Robot real-time positioning method and device

The invention discloses a robot real-time positioning method and device, relates to the technical field of robot positioning, and aims to solve the problem of inaccurate robot real-time positioning inthe prior art. The method mainly comprises the following steps: acquiring a real-time RGB-D image ac...

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Bibliographic Details
Main Authors ZHANG BAOSHENG, SUN CHENGYUAN, MA HONGJUN
Format Patent
LanguageChinese
English
Published 08.12.2020
Subjects
CALCULATING
COMPUTING
COUNTING
HANDLING RECORD CARRIERS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
PRESENTATION OF DATA
RECOGNITION OF DATA
RECORD CARRIERS
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Summary:The invention discloses a robot real-time positioning method and device, relates to the technical field of robot positioning, and aims to solve the problem of inaccurate robot real-time positioning inthe prior art. The method mainly comprises the following steps: acquiring a real-time RGB-D image acquired by a robot camera; extracting real-time image feature points of the real-time RGBD image according to a preset feature extraction algorithm, and recording the real-time image feature points; comparing the real-time image feature points of the real-time RGB-D image with the real-time image feature points of the adjacent frame images of the real-time RGB-D image, and calculating matching feature point pairs; calculating real-time pose information of the real-time RGB-D image according to an ellipsoid set membership filtering algorithm and the matching feature point pairs, and recording the real-time pose information; and calculating real-time position information of the robot accordingto the real-time pose inf
Bibliography:Application Number: CN202010829976