Kugwiritsa Ntchito Kwambiri kwa Ukadaulo Wosoka Fisheye mu Kuyenda kwa Maloboti

Magalasi a Fisheyeali ndi mawonekedwe otseguka kwambiri ndipo amatha kujambula malo osiyanasiyana, koma pali kusokonekera. Ukadaulo wosoka wa Fisheye ukhoza kuphatikiza ndikusintha zithunzi zomwe zatengedwa ndi magalasi angapo a fisheye, kuchotsa kusokonekera kudzera mu kukonza, ndipo pamapeto pake kupanga chithunzi chowoneka bwino. Uli ndi ntchito zambiri m'mafakitale ambiri. Ukadaulo wosoka wa Fisheye ulinso ndi ntchito zofunika kwambiri pakuyenda kwa maloboti.

Ukadaulo wosoka wa Fisheye umapatsa lobotiyo mphamvu yowonera malo omwe ali ndi mawonekedwe ozungulira pophatikiza masomphenya ang'onoang'ono a ma lens angapo a fisheye, kuthetsa mavuto a masomphenya ochepa komanso malo ambiri osawoneka bwino mumayendedwe achikhalidwe. Ntchito zake zazikulu pakuyendetsa ma loboti ndi izi:

1.Kuzindikira zachilengedwe ndi kupanga mapu

Ukadaulo wosoka nsomba za Fisheye ungapereke mawonekedwe a 360° okhala ndi ngodya yokulirapo komanso owonera mbali zonse, kuthandiza maloboti kupanga mamapu owoneka bwino komanso owoneka bwino komanso kuzindikira bwino malo ozungulira, zomwe zimawathandiza kupeza bwino ndikukonzekera njira ndikupewa malo osawoneka bwino, makamaka m'malo opapatiza (monga m'nyumba, m'nyumba zosungiramo zinthu) kapena m'malo osinthasintha.

Kuphatikiza apo, njira yosokera zithunzi za fisheye imakwaniritsa kusakanikirana kwa chithunzi molondola kwambiri kudzera mu kuchotsa mfundo, kufananiza ndi kukonza, zomwe zimapangitsa kuti lobotiyo ikhale ndi malo okhazikika oyendera.

Kudzera mu zithunzi zosokedwa, loboti imatha kuchita SLAM (kuyika malo ndi mapu nthawi imodzi) bwino kwambiri, pogwiritsa ntchito mwayi wowona malo akuluakulu amandala a maso a nsombakuti apange mapu olondola kwambiri oyenda m'mbali ziwiri ndikupeza malo akeake.

Ukadaulo wosoka nsomba za m'nyanja umathandiza maloboti kupanga mamapu a panoramic

2.Kuzindikira ndi kupewa zopinga

Chithunzi chojambulidwa pogwiritsa ntchito fisheye chimatha kuphimba malo ozungulira robot 360°, ndipo chimatha kuzindikira zopinga kuzungulira robot nthawi yomweyo, monga zopinga pamwamba kapena pansi pa chassis, kuphatikizapo zinthu zomwe zili pafupi komanso patali. Pophatikizidwa ndi ma algorithms ophunzirira mozama, robot imatha kuzindikira zopinga zosasunthika kapena zosinthika (monga oyenda pansi ndi magalimoto) ndikukonzekera njira zopewera zopinga.

Kuphatikiza apo, kuti madera a m'mphepete mwa chithunzi cha fisheye asokonezeke, njira yowongolera (monga mapu owonera mozungulira) ikufunika kuti abwezeretse ubale weniweni wa malo kuti apewe kuweruza molakwika malo a zopinga. Mwachitsanzo, poyang'ana mkati, chithunzi cha panoramic chomwe chajambulidwa ndi kamera ya fisheye chingathandize loboti kusintha njira yake nthawi yeniyeni ndikupewa zopinga.

3.Kuchita bwino nthawi yeniyeni komanso kusintha momwe zinthu zilili

FisheyeUkadaulo wosoka umagogomezeranso magwiridwe antchito enieni mu kayendedwe ka maloboti. Mu malo oyenda kapena osinthasintha, kusoka kwa fisheye kumathandizira kusintha kwa mapu pang'onopang'ono (monga DS-SLAM) ndipo kumatha kuyankha kusintha kwa chilengedwe mwachangu nthawi yeniyeni.

Kuphatikiza apo, zithunzi za panoramic zingapereke mawonekedwe ambiri, kupititsa patsogolo kulondola kwa kuzindikira kutsekedwa kwa loop, ndikuchepetsa zolakwika zokhazikika.

Ukadaulo wosoka nsomba za m'nyanja umagogomezeranso kuti ntchito yake ndi yeniyeni.

4.Kuyika mawonekedwe ndi kukonzekera njira

Kudzera mu zithunzi za panoramic zomwe zasokedwa kuchokera ku zithunzi za fisheye, loboti imatha kuchotsa mfundo zowonetsera malo ndikuwongolera kulondola kwa malo. Mwachitsanzo, m'nyumba, loboti imatha kuzindikira mwachangu kapangidwe ka chipindacho, komwe chitseko chili, kufalikira kwa zopinga, ndi zina zotero kudzera mu zithunzi za panoramic.

Nthawi yomweyo, kutengera mawonekedwe a panoramic, loboti imatha kukonza njira yoyendera molondola, makamaka m'malo ovuta monga makonde opapatiza ndi malo odzaza anthu. Mwachitsanzo, m'malo osungiramo zinthu okhala ndi zopinga zambiri, loboti imatha kupeza njira yachangu yopita kumalo omwe mukufuna kudzera muzithunzi za panoramic pomwe ikupewa kugundana ndi zopinga monga mashelufu ndi katundu.

5.Kuyenda kogwirizana kwa maloboti angapo

Maloboti angapo amatha kugawana deta ya chilengedwe kudzera mudiso la nsombaukadaulo wosoka, kupanga mamapu ozungulira omwe amagawidwa, ndikuwongolera kuyenda, kupewa zopinga, ndi kugawa ntchito, monga maloboti ophatikizika m'malo osungiramo zinthu ndi malo operekera zinthu.

Pogwirizana ndi dongosolo logawa makompyuta komanso kugwiritsa ntchito panoramic feature matching point, loboti iliyonse imatha kukonza zithunzi za fisheye zakomweko ndikuziphatikiza mu mapu apadziko lonse lapansi, zomwe zimapangitsa kuti malo pakati pa maloboti azilinganizidwa bwino komanso kuchepetsa zolakwika pa malo.

Maloboti angapo amakwanitsa kuyenda mogwirizana pogwiritsa ntchito ukadaulo wosoka wa fisheye

Ukadaulo wosoka wa Fisheye umagwiritsidwanso ntchito pazochitika zapadera, monga kuyang'anira kuyendetsa galimoto mothamanga pang'ono komanso njira zothandizira kuyendetsa bwino. Kudzera mu kusoka chithunzi cha fisheye, dongosololi limatha kupanga mawonekedwe ofanana ndi a mbalame kuti lithandize oyendetsa kapena maloboti kuzindikira bwino malo ozungulira.

Kuphatikiza apo, ukadaulo wosoka maso a nsomba ungagwiritsidwenso ntchito limodzi ndi masensa ena (monga lidar, masensa akuya, ndi zina zotero) kuti apititse patsogolo magwiridwe antchito a navigation system.

Mwachidule,diso la nsombaUkadaulo wosoka umagwiritsidwa ntchito kwambiri poyendetsa maloboti, makamaka m'malo omwe amafunika kuzindikira zachilengedwe kwambiri komanso kuyika malo nthawi yeniyeni. Ndi kusinthidwa kosalekeza ndi chitukuko cha ukadaulo ndi ma algorithms, malo ogwiritsira ntchito ukadaulo wosoka wa fisheye adzakulitsidwa kwambiri, ndipo mwayi wogwiritsa ntchito ndi waukulu.

Maganizo Omaliza:

Ngati mukufuna kugula mitundu yosiyanasiyana ya magalasi owunikira, owunikira, owunikira ma drone, nyumba yanzeru, kapena ntchito ina iliyonse, tili ndi zomwe mukufuna. Lumikizanani nafe lero kuti mudziwe zambiri za magalasi athu ndi zowonjezera zina.