Title:
METHOD FOR TIGHTLY-COUPLING VISUAL SLAM, TERMINAL AND COMPUTER READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2019/169540
Kind Code:
A1
Abstract:
Disclosed by embodiments of the present invention are a method for tightly-coupling visual SLAM, a terminal and a computer readable medium, wherein a QR code is fused with a current visual SLAM by means of a tightly-coupling fusion method, and monocular vSLAM is applied to an actual industrial robot so as to directly obtain a metric scale map and complete a locating operation of a camera. In addition, relocation and loopback detection may be quickly and accurately completed on the basis of a unique identifier (ID) of the QR code, thus effectively processing repeated textures in an environment, and obtaining a more robust system.
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Inventors:
ZHONG SHANGKUN (CN)
WANG YONGKUN (CN)
WANG YONGKUN (CN)
Application Number:
PCT/CN2018/078076
Publication Date:
September 12, 2019
Filing Date:
March 06, 2018
Export Citation:
Assignee:
STANDARD ROBOTS CO LTD (CN)
International Classes:
G06T7/20; G05D1/10; G06T17/00
Domestic Patent References:
| WO2015194864A1 | 2015-12-23 |
Foreign References:
| CN107680133A | 2018-02-09 | |||
| CN105856230A | 2016-08-17 | |||
| CN104851094A | 2015-08-19 | |||
| CN105825520A | 2016-08-03 | |||
| CN106446815A | 2017-02-22 | |||
| US20120155775A1 | 2012-06-21 |
Attorney, Agent or Firm:
SHENZHEN TALENT PATENT SERVICE (CN)
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