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Title:
LOCALIZATION AND MAPPING METHOD AND SYSTEM
Document Type and Number:
WIPO Patent Application WO/2019/062651
Kind Code:
A1
Abstract:
A localization and mapping method, comprising: determining current pose of a mobile device and a grid map of a current environment according to odometer data and laser data (S11); determining a global optimal path from a starting point to a destination point according to the odometer data, the laser data, and the grid map, in order to complete a navigation task of the mobile device (S12); extracting bag-of-word data of a current image on the basis of a re-localization request, and searching, by means of a lexicographic tree, for key frames corresponding to historical bag-of-word data having similarity within a preset range to the bag-of-word data of the current image (S13); and performing feature matching on the basis of the key frames to determine the pose of the current image in a world coordinate system, and determining the pose of the mobile device in world coordinates according to the pose of the current image in the world coordinate system and the mounting pose of an image sensor in the mobile device, in order to complete re-localization (S14). Also provided is a localization and mapping system.

Inventors:
BAI, Jing (Units 01 and 02, 5th Floor Building 4, No. 666, Shengxia Road, No. 122, Yindong Road, China Pilot Free Trade Zone, Pudong New Area, Shanghai 0, 201210, CN)
LI, Yuxiang (Units 01 and 02, 5th Floor Building 4, No. 666, Shengxia Road, No. 122, Yindong Road, China Pilot Free Trade Zone, Pudong New Area, Shanghai 0, 201210, CN)
CHEN, Shikai (Units 01 And 02, 5th Floor Building 4, No. 666, Shengxia Road, No. 122, Yindong Road, China Pilot Free Trade Zone, Pudong New Area, Shanghai 0, 201210, CN)
Application Number:
CN2018/106812
Publication Date:
April 04, 2019
Filing Date:
September 20, 2018
Export Citation:
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Assignee:
SHANGHAI SLAMTEC CO., LTD. (Units 01 and 02, 5th Floor Building 4, No. 666, Shengxia Road, No. 122, Yindong Road, China Pilot Free Trade Zone, Pudong New Area, Shanghai 0, 201210, CN)
International Classes:
G01C21/20
Foreign References:
CN107677279A2018-02-09
CN104848851A2015-08-19
CN106092104A2016-11-09
CN104732518A2015-06-24
CN105865449A2016-08-17
Attorney, Agent or Firm:
FORIDOM IP LAW FIRM (GAN Zhangguai, 1st Floor B Area, No. 410, Guiping Road, Caohejing International Incubator Center, Xuhui District, Shanghai 3, 200233, CN)
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