Indoor navigation and positioning method and device for robot

• Main Authors: WANG JIN, WANG JIARAN, XIAO FEI, WANG FENG, YANG CHUNMEI
• Format: Patent
• Language: Chinese; English
• Published: 02.11.2018
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The embodiments of the invention disclose an indoor navigation and positioning method and device for a robot. According to the indoor navigation and positioning method and device for the robot, a series of operations such as preprocessing, edge detection, camera distortion correction and feature information extraction are performed on an image captured by a camera, so that a feature pattern is obtained by means of fitting on the basis of the image; IPM transformation is performed on the feature pattern, so that the parameter equation of the feature pattern in a world coordinate system can be obtained; and whether the feature pattern is a valid pattern is judged according to pre-stored map information; if the feature pattern is a valid pattern, the theoretical pose information of the robotcan be determined according to the parameter equation of the valid pattern; the theoretical pose information and pose parameters collected by a wheel encoder are fused through using a Kalman filter, so that the position, spee