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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.

Inventors:
ZHONG, Shangkun (Floor 6, Building 9B Tai Hua Wu Tong Island, Hangkong Road, Xixiang street, Baoan Distric, Shenzhen Guangdong 0, 518000, CN)
WANG, Yongkun (Floor 6, Building 9B Tai Hua Wu Tong Island, Hangkong Road, Xixiang street, Baoan Distric, Shenzhen Guangdong 0, 518000, CN)
Application Number:
CN2018/078076
Publication Date:
September 12, 2019
Filing Date:
March 06, 2018
Export Citation:
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Assignee:
STANDARD ROBOTS CO., LTD (Floor 6, Building 9B Tai Hua Wu Tong Island, Hangkong Road, Xixiang Street, Baoan Distric, Shenzhen Guangdong 0, 518000, CN)
International Classes:
G06T7/20; G05D1/10; G06T17/00
Domestic Patent References:
WO2015194864A12015-12-23
Foreign References:
CN107680133A2018-02-09
CN105856230A2016-08-17
CN104851094A2015-08-19
CN105825520A2016-08-03
CN106446815A2017-02-22
US20120155775A12012-06-21
Attorney, Agent or Firm:
SHENZHEN TALENT PATENT SERVICE (B 20/F, Building B Lvjing Square 6009 Shennan Middle Road, Futian Distric, Shenzhen Guangdong 0, 518000, CN)
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