VISUAL POSITIONING AND NAVIGATION DEVICE AND METHOD THEREOF
First Claim
1. A visual positioning and navigation device, comprising:
- a motion module, configured to drive a robot and acquire current pose information of the robot in real time;
a camera module comprising an image sensor that captures an environmental image during movement of the robot;
an image processing module, configured to perform feature extraction and feature description for the environmental image captured by the image sensor of the camera module; and
a pose estimation module, configured to build a feature database comprising a plurality of features and compare the feature point description of the environmental image to the features in the feature database, calculate a pose correction of the robot, and obtain a corrected robot pose based on the current pose information and the pose correction.
2 Assignments
0 Petitions
Accused Products
Abstract
The present invention discloses a visual positioning and navigation device, comprising: a motion module, configured to drive a robot accordingly, and acquire a current pose information of the robot in real time; a camera module, configured to capture an environmental image during the movement of the robot; an image processing module, configured to perform the feature extraction and the feature description for the environmental image; and a pose estimation module, configured to match the feature point description of the environmental image, build a feature database, calculate the pose correction of the robot, and obtain the corrected robot pose based on the robot current pose and the pose correction. The visual positioning and navigation device and method thereof can build the scene map by detecting and tracking the feature information of the ORB feature points of the indoor ceiling, so as to achieve the accurate positioning and navigation of the robot.
-
Citations
16 Claims
-
1. A visual positioning and navigation device, comprising:
-
a motion module, configured to drive a robot and acquire current pose information of the robot in real time; a camera module comprising an image sensor that captures an environmental image during movement of the robot; an image processing module, configured to perform feature extraction and feature description for the environmental image captured by the image sensor of the camera module; and a pose estimation module, configured to build a feature database comprising a plurality of features and compare the feature point description of the environmental image to the features in the feature database, calculate a pose correction of the robot, and obtain a corrected robot pose based on the current pose information and the pose correction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A visual positioning and navigation method, comprising
driving a robot and acquiring a current pose information of the robot in real time during said driving; -
capturing an environmental image during the movement of the robot; performing feature extraction and feature description for the environmental image captured; building a feature database including a plurality of features; comparing the feature point description of the environmental image with the features included in the feature database that was built, calculating a pose correction of the robot, and obtaining a corrected robot pose based on the current pose information and the pose correction. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
-
Specification