The invention discloses a map establishment method based on a monocular camera and a robot, relates to the technical field of robots, and aims to solve the technical problem of how to improve the map establishment accuracy of the robot. The monocular camera-based map establishment method comprises the following steps: in response to a map establishment instruction, obtaining an environment image corresponding to a target environment collected by a monocular camera, the target environment corresponding to a view field range of the monocular camera in a surrounding environment, and the target environment comprising a plurality of areas; obtaining region data corresponding to a plurality of regions in the target environment according to the environment image; establishing a grid map corresponding to the surrounding environment based on the area data corresponding to the plurality of areas; generating a confidence map corresponding to the grid map according to the position relationship between the plurality of areas and the robot; and according to the grid map and the confidence map, establishing a target map corresponding to the surrounding environment where the robot is located.
本申请公开一种基于单目相机的地图建立方法和机器人,涉及机器人技术领域,旨在解决如何提升机器人建立地图的准确性的技术问题。基于单目相机的地图建立方法包括:响应于地图建立指令,获取单目相机采集的目标环境对应的环境图像,目标环境与单目相机在周围环境中的视野范围相对应,目标环境中包括多个区域;根据环境图像获取目标环境中多个区域各自对应的区域数据;基于多个区域各自对应的区域数据建立周围环境对应的栅格地图;根据多个区域和机器人的位置关系,生成栅格地图对应的置信度地图;根据栅格地图和置信度地图,建立机器人所在的周围环境对应的目标地图。
Map establishing method based on monocular camera and robot
基于单目相机的地图建立方法和机器人
2023-04-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06V / G09B Unterrichts- oder Vorführungsgeräte , EDUCATIONAL OR DEMONSTRATION APPLIANCES / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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