Lunar surface robot patrol navigation method and system based on mixed reality
The invention belongs to the related technical field of robot inspection and detection, and discloses a lunar surface robot inspection navigation method and system based on mixed reality, and the method comprises the steps: carrying out the terrain reconstruction of the lunar surface terrain through...
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| creator | CHEN JIE LI SHIQI JI HECHAO ZHOU SHUXIANG LIU YIBIN |
| description | The invention belongs to the related technical field of robot inspection and detection, and discloses a lunar surface robot inspection navigation method and system based on mixed reality, and the method comprises the steps: carrying out the terrain reconstruction of the lunar surface terrain through mixed reality equipment, and obtaining a reconstructed terrain file; extracting vertex information of the reconstructed terrain file to obtain a point cloud file, and performing plane fitting on the point cloud file to obtain a maximum plane in the terrain; projecting the point cloud file on the maximum plane to obtain a DEM map; performing feature extraction and classification on the DEM map by adopting a convolutional neural network to obtain a passable area, an impassable area and a robot, and converting the passable area, the impassable area and the robot to a robot coordinate system; and acquiring a path starting position and a target position, performing path planning on a motion path of the robot by taking |
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| language | chi ; eng |
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| subjects | GYROSCOPIC INSTRUMENTS MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING |
| title | Lunar surface robot patrol navigation method and system based on mixed reality |
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