Title:
METHOD AND APPARATUS FOR ESTABLISHING BEACON MAP ON BASIS OF VISUAL BEACONS
Document Type and Number:
WIPO Patent Application WO/2021/004416
Kind Code:
A1
Abstract:
A method and apparatus for establishing a beacon map on basis of visual beacons. The method comprises: acquiring target detection data at least comprising an image frame, as well as target measurement data; on the basis of the target measurement data, obtaining an initialization result for a first-type pose corresponding to the image frame; on the basis of the target detection data, acquiring an initialization result for a second-type pose corresponding to a visual beacon; for a first-type residual that is acquired on the basis of the target measurement data and that relates to the image frame and a second-type residual that is acquired on the basis of the target detection data and that relates to the image frame and the visual beacon, performing joint optimization by using the first-type pose as a state variable and using the second-type pose as another state variable so as to obtain an optimization result for the second-type pose; and on the basis of the obtained optimization result for the second-type pose, establishing a beacon map. By means of the present solution, the dependence on positioning information of visual beacons may be reduced.
Inventors:
TANG HENGBO (CN)
Application Number:
PCT/CN2020/100306
Publication Date:
January 14, 2021
Filing Date:
July 04, 2020
Export Citation:
Assignee:
HANGZHOU HIKROBOT TECH CO LTD (CN)
International Classes:
G06K9/00
Foreign References:
| CN107516326A | 2017-12-26 | |||
| US20120101661A1 | 2012-04-26 | |||
| CN109648558A | 2019-04-19 | |||
| CN107179080A | 2017-09-19 | |||
| US20170316701A1 | 2017-11-02 | |||
| CN105487557A | 2016-04-13 | |||
| CN201910603494A | 2019-07-05 |
Other References:
LI, YUEHUA ET AL.: "Improved Visual SLAM Algorithm in Factory Environment", ROBOT, vol. 41, no. 1, 31 January 2019 (2019-01-31), pages 95 - 103, XP009533452, ISSN: 1002-0446, DOI: 10.13973/j.cnki.robot.180062
See also references of EP 3995988A4
See also references of EP 3995988A4
Attorney, Agent or Firm:
PATENTSINO IP FIRM (CN)
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