首页>
外国专利>
Indoor Monocular Navigation Method Based on Cross-Sensor Transfer Learning and System Thereof
Indoor Monocular Navigation Method Based on Cross-Sensor Transfer Learning and System Thereof
展开▼
机译:基于交叉传感器传输学习的室内单眼导航方法及其系统
展开▼
页面导航
摘要
著录项
相似文献
摘要
The present invention relates to an indoor monocular navigation method based on cross-sensor transfer learning and a system thereof. Determining an preliminary autonomous navigation model according to simulated laser radar data; acquiring actual single-line laser radar data and monocular camera data of the mobile robot simultaneously in an actual environment; determining the heading angle of the mobile robot according to the actual laser radar data; determining a laser radar monocular vision navigation model, according to the generated heading angle of the mobile robot and the monocular camera data at a the same moment and by using a Resnet18 network and a pre-trained YOLO v3 network; determining a heading angle of the mobile robot at the current moment, according to the acquired monocular camera data and by using the laser radar monocular vision navigation model; performing navigation of the mobile robot.
展开▼