Robot positioning method, electronic equipment and storage medium
The invention provides a robot positioning method, electronic equipment and a storage medium. The robot positioning method comprises the following steps: acquiring a conversion relation between a coordinate system of a camera and a global coordinate system of a positioning system; point cloud image...
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| creator | LU JIONGWEI ZHANG ZIZHI CHEN YIJING CHEN KUNYONG GAO YUAN YUAN SHILIN |
| description | The invention provides a robot positioning method, electronic equipment and a storage medium. The robot positioning method comprises the following steps: acquiring a conversion relation between a coordinate system of a camera and a global coordinate system of a positioning system; point cloud image data collected by a camera on the mobile visual perception platform is converted to a global coordinate system of a positioning system to obtain an outer contour point cloud of the robot; according to the method, the estimated initial pose of the robot is obtained, the estimated initial pose is used as an initial registration condition, pose iterative estimation is performed according to the outer contour point cloud of the robot, the actual pose of the robot is obtained, and through the combination of the mobile platform and the 3D camera, the hardware cost of a visual sensor is reduced, accumulative errors in the multi-camera image splicing process are avoided, and the image splicing accuracy is improved. On the |
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The robot positioning method comprises the following steps: acquiring a conversion relation between a coordinate system of a camera and a global coordinate system of a positioning system; point cloud image data collected by a camera on the mobile visual perception platform is converted to a global coordinate system of a positioning system to obtain an outer contour point cloud of the robot; according to the method, the estimated initial pose of the robot is obtained, the estimated initial pose is used as an initial registration condition, pose iterative estimation is performed according to the outer contour point cloud of the robot, the actual pose of the robot is obtained, and through the combination of the mobile platform and the 3D camera, the hardware cost of a visual sensor is reduced, accumulative errors in the multi-camera image splicing process are avoided, and the image splicing accuracy is improved. 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| language | chi ; eng |
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| subjects | CALCULATING COMPUTING COUNTING IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PHYSICS |
| title | Robot positioning method, electronic equipment and storage medium |
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