公开(公告)号：WO2023273311A1

公开(公告)日：2023-01-05

申请号：PCT/CN2022/072138

申请日：2022-01-14

Applicant: MIDEA GROUP CO., LTD.

Inventor： CHEN, Yi ,  HUANG, Ke ,  XI, Wei

IPC: G01C21/20 ,  G01C21/16 ,  B25J5/007 ,  B25J9/1692 ,  G01C21/1656 ,  G06T2207/10016 ,  G06T2207/30244 ,  G06T7/579 ,  G06T7/80

Abstract: A method and device for scale calibration and optimization of a monocular visual-inertial localization system is disclosed. The method includes: capturing, by a camera disposed on a device moving in an environment, a plurality of image frames recorded in a first coordinate reference frame at respective locations within a portion of the environment in a first time period; capturing, by an inertial measurement unit disposed on the device, sets of inertial odometry data recorded in a second coordinate reference frame; determining a rotational transformation matrix that corresponds to a relative rotation between the first reference frame and the second reference frame; and determining a scale factor from the matching pairs of image frames. The rotational transformation matrix defines an orientation of the device, and the scale factor and the rotational transformation matrix calibrate the plurality of image frames captured by the camera.

公开(公告)号：WO2023273310A1

公开(公告)日：2023-01-05

申请号：PCT/CN2022/072114

申请日：2022-01-14

Applicant: MIDEA GROUP CO., LTD.

Inventor： CHEN, Yi ,  HUANG, Ke ,  XI, Wei

IPC: B25J9/16 ,  G06T2207/10016 ,  G06T2207/30244 ,  G06T7/248 ,  G06T7/74

Abstract: The method and device disclosed herein present a method that includes capturing, by an optical sensor disposed on a device moving in an environment, a plurality of optical data at respective locations within a portion of the environment(1002); capturing, by a wheel encoder(258,602) disposed on the device, a set of encoder data corresponding to the plurality of optical data at the respective locations(1004); determining a first relative motion based on the plurality of optical data(1006); determining a corresponding second relative motion based on the set of encoder data(1008); in accordance with determining that a difference between the first relative motion and the corresponding second relative motion is larger than a first threshold(1010): increasing a counter indicating a slip event of the wheel encoder(258,602), wherein the slip event corresponds to a wheel of the device advancing and the corresponding second relative motion being below a second threshold(1012).

公开(公告)号：WO2022193813A1

公开(公告)日：2022-09-22

申请号：PCT/CN2022/072141

申请日：2022-01-14

Applicant: MIDEA GROUP CO., LTD.

Inventor： XI, Wei ,  WANG, Xiuzhong

IPC: G05D1/02

Abstract: The method and system disclosed herein presents a method and system for capturing, by a camera moving in an environment, a sequence of consecutive frames at respective locations within a portion of the environment（1002）; constructing a topological semantic graph corresponding to the portion of the environment based on the sequence of consecutive frames（1004）; in accordance with a determination that the topological semantic graph includes at least a predefined number of edges（1010）: searching, in a topological semantic map of the environment, one or more candidate topological semantic graphs corresponding to the first topological semantic graph（1012）; for a respective candidate topological semantic graph of the one or more candidate topological semantic graphs, searching, in a joint semantic and feature localization map, a keyframe corresponding to the respective candidate topological semantic graph（1014）; and computing a current pose of the camera based on the keyframe（1016）.