Navigation positioning method based on machine vision and laser radar and robot

The invention discloses a navigational positioning method and robot based on machine vision and laser radar, and belongs to the technical field of transformer substation intelligent inspection robots. According to the method, the advantages of machine vision and laser radar are combined, data of an environment depth map and an RGB map are obtained through a depth camera, then the data are converted into data of a laser type so that the data can be fused with data collected by the laser radar, and finally an environment two-dimensional grid map is constructed. Compared with the use of a single sensor, the method can obviously improve the precision and integrity of the global map. 本发明公开了一种基于机器视觉与激光雷达的导航定位方法及机器人，属于变电站智能巡检机器人技术领域。该方法结合机器视觉和激光雷达的优势，利用深度相机得到环境深度图和RGB图数据，然后将该数据转换为激光类型的数据，以便于与激光雷达采集到的数据进行融合，最终构建环境二维栅格地图。该方法相对于单一传感器的使用，能够明显提高全局地图的精度和完整性。