Title:
AUTONOMOUS VACUUM CLEANER POSITIONING METHOD AND DEVICE EMPLOYING GYROSCOPE CALIBRATION BASED ON VISUAL LOOP CLOSURE DETECTION
Document Type and Number:
WIPO Patent Application WO/2020/010841
Kind Code:
A1
Abstract:
Provided are an autonomous vacuum cleaner positioning method and device using gyroscope calibration based on visual loop closure detection. The method comprises: acquiring, according to gyroscope information and odometer information correspondingly obtained between two key image frames of adjacent time points, actual location information with respect to a current image frame and a target historical image frame, and completing positioning. The actual location information of the current image frame can be quickly calculated on the basis of visual loop closure detection, thereby reducing computational complexity, and completing updating of the gyroscope and odometer information while achieving accurate positioning.
Inventors:
ZHOU BIXING (CN)
ZHANG LIXIN (CN)
ZHANG LIXIN (CN)
Application Number:
PCT/CN2019/073757
Publication Date:
January 16, 2020
Filing Date:
January 29, 2019
Export Citation:
Assignee:
SHENZHEN WATER WORLD CO LTD (CN)
International Classes:
G01C21/00
Foreign References:
| CN109141395A | 2019-01-04 | |||
| CN107869989A | 2018-04-03 | |||
| CN107314773A | 2017-11-03 | |||
| CN107742303A | 2018-02-27 | |||
| CN105411490A | 2016-03-23 | |||
| CN106250504A | 2016-12-21 | |||
| US20150316380A1 | 2015-11-05 |
Attorney, Agent or Firm:
SHENZHEN MINGRIJINDIAN INTELLECTUAL PROPERTY AGENCY FIRM(GENERAL) (CN)
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