Patent ID: 11964401
Assignee: ZHEJIANG UNIVERSITY
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 4:
5. A device based on the global optimal robot visual positioning method based on point-line features according to claim 1, the device comprising at least one processor and a memory configured to store instructions executable by the at least one processor, wherein the instructions cause the at least one processor to:
acquire a priori three-dimensional map of the current scene and measurement data of gravity acceleration;
acquire a current camera image and the measured gravity acceleration of the robot;
calculate a pitch angle and a roll angle of a pose of the robot according to the measured gravity acceleration of the robot and the measurement data of the gravity acceleration in the priori three-dimensional map;
match two-dimensional point-line features detected in the current camera image of the robot with three-dimensional point-line features in the priori three-dimensional map to obtain a plurality of two-dimensional to three-dimensional point-line feature matching pairs; and
separate rotation and translation of the pose of the robot to be solved according to the acquired point-line feature matching pairs, solve the rotation first and then solve the translation, thereby completing dimension reduction of a search space and obtaining an accurate estimation result.