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REAL-TIME ROBOT POSITION ESTIMATION METOD THROUGH MAP INFORMATION AND IMAGE MATCHING AND THE ROBOT
REAL-TIME ROBOT POSITION ESTIMATION METOD THROUGH MAP INFORMATION AND IMAGE MATCHING AND THE ROBOT
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机译：通过地图信息和图像匹配和机器人实时机器人位置估计MOTOD
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摘要
The present invention relates to a real-time robot position prediction method for determining the position of a robot using map information formed using GPS, IMU, lidar, and camera, and to a lidar sensor, an inertial sensor (IMU), a GPS signal and a camera. forming first map information based on information obtained through at least one of the following; determining at least one first map feature point included in the first map information and a map descriptor corresponding to each of the at least one first map feature point; forming second map information based on information acquired in real time through only the camera; determining a start position from the second map information and determining a range within a predetermined distance based on the start position as a region of interest; determining an ROI descriptor corresponding to the region of interest; The ROI descriptor and the map descriptor are compared, and when the ROI descriptor and the map descriptor match, the at least one first map feature point corresponding to the map descriptor Predicting the position of the robot; includes.
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