Robot globally optimal visual positioning method and device based on point-line features

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United States of America

PATENT NO 11964401
SERIAL NO

17489738

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Provided is a globally optimal robot visual positioning method and device based on point-line features. The method comprises the following steps: acquiring a priori three-dimensional map of a current scene constructed in advance; acquiring a current image of the robot and the inertial measurement data; calculating a pitch angle and a roll angle of the current robot pose according to the current inertial sensor data and the inertial sensor data in the priori map; matching the two-dimensional point-line features detected in the current image with three-dimensional point-line features in a priori map; separating the rotation and translation of the pose to be solved according to the matched feature pairs, solving the rotation and then solving the translation so as to complete the dimensionality reduction of the search space.

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Patent Owner(s)

  • ZHEJIANG UNIVERSITY

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Jiao, Yanmei Hangzhou, CN 1 0
Wang, Yue Hangzhou, CN 927 9381
Xiong, Rong Hangzhou, CN 28 212

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