Shenzhen University

Shenzhen Intelligence Ally Technology Co., Ltd.

Qingquan Li

Jiasong Zhu

Zhipeng Chen

Yu Yin

Xiang Cheng

Liang Zhang

Bin Deng

Sen Jia

Shuang Yang

Lin Deng

Chisheng Wang

Weicheng Xiong

Xuewan Li

Disclosed are a method for simultaneous localization and mapping, device, system and storage medium. The method comprises: acquiring a local binocular vision image and a local three-dimensional laser point cloud image that can be collected at present; preprocessing the local binocular vision image and the local three-dimensional laser point cloud image, respectively; acquiring a position and an attitude of a local binocular vision map according to the preprocessed local binocular vision image; fusing the position and attitude of the local binocular vision map with the preprocessed local three-dimensional laser point cloud image to obtain a local fusion map; and performing a global consistency optimization on a global map according to the local fusion map to obtain a dense point cloud map and output a current position information and a current attitude information in real time so as to complete the simultaneous localization and mapping (SLAM), wherein the global map is constructed according to a global three-dimensional laser point cloud image.

Simultaneous localization and mapping method, device, system and storage medium

A pipeline three-dimensional curve measuring robot and implementation method therefor. The measuring robot includes an electronic bin, sliding rods, wheel bracket, walking wheels arranged on wheel bracket, odometer wheels arranged on sliding rod on one side and encoders; the electronic bin is internally provided with an inertia measurement unit, collection control module and power supply module; when measuring, the measuring robot is controlled to move back and forth in a pipeline collecting measuring data; comparing measured data with three-dimensional curve data at pipeline reference moment to obtain deformation quantity of pipeline three-dimensional curve. For the measuring robot provided, measuring robot measuring points are realized to be kept on a central axis of the pipeline through synchronous tensioning of walking wheels, realizing high-precision mileage measurement through independent tensioning of odometer wheels; inertial navigation measuring device can realize millimeter-scale pipeline three-dimensional curve deformation measurement accuracy and meets requirement for deformation monitoring.

Pipeline three-dimensional curve measuring robot and implementation method therefor

Provided are an image fusion classification method and device. The method includes that: a three-dimensional weight matrix of a hyperspectral image is obtained by use of a Support Vector Machine (SVM) classifier (); superpixel segmentation is performed on the hyperspectral image to obtain K superpixel images, K being a positive integer (); the three-dimensional weight matrix is regularized by use of a superpixel-image-based segmentation method to obtain a regular matrix (); and a class that a sample belongs to is determined according to the regular matrix ().

Image classification method and device

A method including: putting a pre-set detection apparatus in a pipeline to be detected, collecting, every pre-set time, movement information about and pipeline image thereof; at each collection moment, calculating, according to movement information collected, first position where detection apparatus is located; calculating, according to pipeline image photographed, second position where detection apparatus is located; determining, according to first position and second position, position where detection apparatus is located so as to position pipeline according to position at each collection moment. By performing position information extraction by means of inertial navigation and video combined positioning algorithm, accurate positioning of pipeline position is realized, so as to accurately position crack inside pipeline according to photographed image and positioned pipeline position. The pipeline detection method can be widely used for conventional exploration of a liquid pipeline, such as a city drainage pipeline and a tap water pipeline.

Pipeline detection method and apparatus, and storage medium

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Shenzhen, China

Qingquan Li