Title:
LASER RADAR-BASED SLAM CLOSED-LOOP DETECTION METHOD AND DETECTION SYSTEM
Document Type and Number:
WIPO Patent Application WO/2021/017072
Kind Code:
A1
Abstract:
A laser radar-based SLAM closed-loop detection method and detection system, which are applicable to the field of cleaning equipment, wherein the method comprises: on the basis of camera data collected by a camera, performing closed-loop detection through a visual closed-loop detection module to obtain a first closed-loop detection result (101); on the basis of the first closed-loop detection result, sending the closed-loop detection information to a laser simultaneous localization and mapping SLAM module through the visual closed-loop detection module (102); and when the laser SLAM module acquires the closed-loop detection information, performing an image optimization operation (103), improving the construction of an environment map and the accuracy of subsequent path planning.
Inventors:
YE LIRONG (CN)
REN JUANJUAN (CN)
ZHANG GUODONG (CN)
YAN RUIJUN (CN)
SUN ZHENKUN (CN)
REN JUANJUAN (CN)
ZHANG GUODONG (CN)
YAN RUIJUN (CN)
SUN ZHENKUN (CN)
Application Number:
PCT/CN2019/102850
Publication Date:
February 04, 2021
Filing Date:
September 27, 2019
Export Citation:
Assignee:
SHENZHEN SILVER STAR INTELLIGENT TECH CO LTD (CN)
International Classes:
G01S17/89; A47L11/24; A47L11/40
Foreign References:
| CN106272423A | 2017-01-04 | |||
| CN106272423A | 2017-01-04 | |||
| CN106153048A | 2016-11-23 | |||
| CN106153048A | 2016-11-23 | |||
| CN108537844A | 2018-09-14 | |||
| CN106897666A | 2017-06-27 | |||
| CN106885574A | 2017-06-23 |
Other References:
LIANG, XIAO: "Indoor Slam for Robots Based on Laser And Mono-vision Fusion", INFORMATION & TECHNOLOGY, CHINA MASTER'S THESES FULL-TEXT DATABASE, no. 4, 15 April 2016 (2016-04-15), XP055776701, ISSN: 1674-0246
LIANG, XIAO: "INDOOR SLAM FOR ROBOTS BASED ON LASER AND MONO-VISION FUSION", INFORMATION & TECHNOLOGY, CHINA MASTER'S THESES FULL-TEXT DATABASE, 1 December 2015 (2015-12-01), pages 1 - 52, XP055776709, [retrieved on 20210216]
LIANG, XIAO: "INDOOR SLAM FOR ROBOTS BASED ON LASER AND MONO-VISION FUSION", INFORMATION & TECHNOLOGY, CHINA MASTER'S THESES FULL-TEXT DATABASE, 1 December 2015 (2015-12-01), pages 1 - 52, XP055776709, [retrieved on 20210216]
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