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CN-122027985-A - Method for performing relocation, locating device and computer readable storage medium

CN122027985ACN 122027985 ACN122027985 ACN 122027985ACN-122027985-A

Abstract

Embodiments of the present invention provide a method, a positioning device and a computer-readable storage medium for performing relocation. The method includes the steps of executing SLAM to obtain a plurality of first key frames and sensing first environment sensing information corresponding to each first key frame when each first key frame is obtained, sensing current environment sensing information when the positioning device executes a repositioning mechanism, and at least comparing the current environment sensing information with the first environment sensing information corresponding to each first key frame to find at least one second key frame in the plurality of first key frames, and performing the repositioning mechanism based on the at least one second key frame.

Inventors

  • CHEN YANCHEN

Assignees

  • 宏达国际电子股份有限公司

Dates

Publication Date
20260512
Application Date
20241219
Priority Date
20241111

Claims (17)

  1. 1. A method of performing relocation performed by a locating device that applies simultaneous location and mapping (SLAM), comprising: performing SLAM by the positioning device to obtain a plurality of first key frames, and sensing first environment sensing information corresponding to each first key frame when each first key frame is obtained; Sensing current environmental sensing information by the positioning device when the positioning device executes a repositioning mechanism, and at least searching for at least one second key frame among the plurality of first key frames by comparing the current environmental sensing information with the first environmental sensing information corresponding to each of the first key frames, and The relocation mechanism is performed by the locating device based on the at least one second key frame.
  2. 2. The method of claim 1, wherein the first environmental sensing information corresponding to each of the first keyframes includes at least one of over-range force information, ambient light information, respectively sensed by the positioning device when each of the first keyframes is acquired.
  3. 3. The method of claim 2, wherein the over-distance force information comprises at least one of a magnetic force direction, a magnetic force strength, a gravitational force direction, and an over-distance force angle, wherein the over-distance force angle comprises an angle between the magnetic force direction and the gravitational force direction.
  4. 4. The method of claim 2, wherein the ambient light information comprises ambient brightness and exposure parameters.
  5. 5. The method of claim 1, wherein the plurality of first keyframes are associated with a particular field in which the positioning device is located, and an area of the particular field is not less than 900 square meters.
  6. 6. The method of claim 1, wherein a number of the plurality of first key frames is not less than 300.
  7. 7. The method of claim 1, wherein sensing the current environmental sensing information comprises: And sensing the current environmental information at least through an environmental sensor of the positioning device.
  8. 8. The method of claim 1, wherein locating at least one second keyframe among the plurality of first keyframes at least by comparing the current environmental sensing information to the first environmental sensing information corresponding to each of the first keyframes comprises: In response to determining that the first environmental sensing information corresponding to a first frame of the plurality of first key frames matches the current environmental sensing information, determining that the first frame belongs to the at least one second key frame, and And in response to determining that the first environmental sensing information corresponding to the first frame does not match the current environmental sensing information, determining that the first frame does not belong to the at least one second key frame.
  9. 9. The method of claim 8, comprising: in response to determining that a difference between the first environmental sensing information corresponding to the first frame and the current environmental sensing information is within an error range, determining that the first environmental sensing information corresponding to the first frame matches the current environmental sensing information, and In response to determining that the difference between the first environmental sensing information corresponding to the first frame and the current environmental sensing information is not within the error range, it is determined that the first environmental sensing information corresponding to the first frame does not match the current environmental sensing information.
  10. 10. A positioning device for simultaneous localization and mapping (SLAM) application, comprising: a storage circuit that stores program code; A processor coupled to the memory circuit and accessing the program code to execute: performing SLAM to obtain a plurality of first key frames, and sensing first environment sensing information corresponding to each first key frame when each first key frame is obtained; Sensing current environmental sensing information by the positioning device when the repositioning mechanism is executed, and at least searching at least one second key frame in the plurality of first key frames by comparing the current environmental sensing information with the first environmental sensing information corresponding to each of the first key frames The relocation mechanism is performed based on the at least one second key frame.
  11. 11. The positioning device of claim 10, wherein the first environmental sensing information corresponding to each of the first keyframes includes at least one of over-range force information, ambient light information, respectively sensed by the positioning device when each of the first keyframes is acquired.
  12. 12. The positioning device of claim 11, wherein the over-distance force information comprises at least one of a magnetic force direction, a magnetic force strength, a gravitational direction, and an over-distance force angle, wherein the over-distance force angle comprises an angle between the magnetic force direction and the gravitational direction.
  13. 13. The positioning device of claim 11, wherein the ambient light information comprises ambient brightness and exposure parameters.
  14. 14. The positioning device of claim 10, wherein the plurality of first keyframes are associated with a particular field in which the positioning device is located, and an area of the particular field is not less than 900 square meters, or a number of the plurality of first keyframes is not less than 300.
  15. 15. The positioning device of claim 10, further comprising an environmental sensor coupled to the processor, and the processor is configured to perform: The current environmental information is sensed at least by the environmental sensor of the positioning device.
  16. 16. The positioning device of claim 10, wherein the processor is configured to perform: In response to determining that the first environmental sensing information corresponding to a first frame of the plurality of first key frames matches the current environmental sensing information, determining that the first frame belongs to the at least one second key frame, and And in response to determining that the first environmental sensing information corresponding to the first frame does not match the current environmental sensing information, determining that the first frame does not belong to the at least one second key frame.
  17. 17. A computer readable storage medium, wherein the computer readable storage medium records an executable computer program loaded by a positioning device that applies simultaneous positioning and mapping (SLAM) to perform the steps of: performing SLAM to obtain a plurality of first key frames, and sensing first environment sensing information corresponding to each first key frame when each first key frame is obtained; Sensing current environmental sensing information by the positioning device when the repositioning mechanism is executed, and at least searching at least one second key frame in the plurality of first key frames by comparing the current environmental sensing information with the first environmental sensing information corresponding to each of the first key frames The relocation mechanism is performed based on the at least one second key frame.

Description

Method for performing relocation, locating device and computer readable storage medium Technical Field The present invention relates to a positioning mechanism, and more particularly, to a method of performing relocation, a positioning apparatus, and a computer-readable storage medium. Background Synchronous positioning and mapping (SLAM) technology is a technology that enables a positioning device to simultaneously position itself in an unknown environment and to build an environment map. However, as the search range of the positioning device increases, the size of the SLAM map created by the positioning device also increases. In SLAM technology, repositioning (relocation) is a very important concept in that when the positioning device loses tracking of its own position, it can re-determine its own position in the environment by comparison with a previously established map. However, when the size of the SLAM map is too large, problems such as prolonged relocation time, increased memory usage, and increased computing resource requirements are caused. This is because a large amount of computing resources are required to perform feature matching and positioning computation in huge map data. Disclosure of Invention In view of the above, the present invention provides a method, a positioning device and a computer readable storage medium for performing relocation, which can be used to solve the above-mentioned technical problems. An embodiment of the invention provides a method for performing relocation, which is performed by a locating device applying simultaneous location and map construction (SLAM), and comprises the steps of performing SLAM by the locating device to obtain a plurality of first key frames, sensing first environment sensing information corresponding to each first key frame when each first key frame is obtained, sensing current environment sensing information by the locating device when the locating device performs a relocation mechanism, and at least comparing the current environment sensing information with the first environment sensing information corresponding to each first key frame to find at least one second key frame in the plurality of first key frames, and performing the relocation mechanism by the locating device based on the at least one second key frame. The embodiment of the invention provides a positioning device for simultaneously positioning and mapping (SLAM), which comprises a storage circuit and a processor. The memory circuit stores program codes. The processor is connected with the storage circuit and accesses the program code to execute, and executes SLAM to obtain a plurality of first key frames and sense first environment sensing information corresponding to each first key frame when each first key frame is obtained, senses current environment sensing information by the positioning device when a repositioning mechanism is executed and at least finds at least one second key frame in the plurality of first key frames by comparing the current environment sensing information with the first environment sensing information corresponding to each first key frame, and performs the repositioning mechanism based on the at least one second key frame. Embodiments of the present invention provide a computer-readable storage medium recording an executable computer program loaded by a positioning device that applies simultaneous localization and mapping (SLAM) to perform steps of performing SLAM to acquire a plurality of first key frames and sensing first environment sensing information corresponding to each of the first key frames when each of the first key frames is acquired, sensing current environment sensing information by the positioning device and finding at least one second key frame among the plurality of first key frames at least by comparing the current environment sensing information with the first environment sensing information corresponding to each of the first key frames when a relocation mechanism is performed, and performing the relocation mechanism based on the at least one second key frame. Drawings Fig. 1 is a schematic view of a positioning device according to an embodiment of the present invention. FIG. 2 is a flow chart illustrating a method of performing relocation in accordance with an embodiment of the present invention. Detailed Description Fig. 1 is a schematic diagram of a positioning device according to an embodiment of the invention. In different embodiments, the positioning device 100 may be implemented as, for example, various devices to which SLAM may be applied, such as a service robot, an industrial robot, an unmanned aerial vehicle, an autonomous car, a Head Mounted Display (HMD) for providing a reality service (e.g., augmented reality, virtual reality, mixed reality, etc.), a mobile phone, etc., but may not be limited thereto. In fig. 1, a positioning device 100 includes a memory circuit 102 and a processor 104. The Memory circuit 102 is, for exam