Title:
GRID AND VOXEL POSITIONING METHODS BASED ON LASER OBSERVATION DIRECTION, ROBOT, AND CHIP
Document Type and Number:
WIPO Patent Application WO/2023/071377
Kind Code:
A1
Abstract:
The present invention relates to grid and voxel positioning methods based on a laser observation direction, a robot, and a chip. The grid positioning method comprises: selecting two preset intersection points located in a same preset grid as a laser point; then, in the two preset intersection points, setting the preset intersection point farthest from an observation point as a first preset intersection point, and setting the preset intersection point closest to the same observation point as a second preset intersection point; and according to the relationship between the ratio of a second preset distance to a first preset distance and a preset proportion coefficient, determining a target grid hit by the laser point in the direction of an observation ray, so as to form a latest grid hit location of the laser point in a two-dimensional grid map, wherein the first preset distance is a linear distance between the first preset intersection point and the second preset intersection point, and the second preset distance is a linear distance between the laser point and the second preset intersection point. Therefore, the positioning precision and the map building quality are improved.
Inventors:
SUN MING (CN)
ZHOU HEWEN (CN)
HUANG HUIBAO (CN)
XU SONGZHOU (CN)
CHEN ZHUOBIAO (CN)
ZHOU HEWEN (CN)
HUANG HUIBAO (CN)
XU SONGZHOU (CN)
CHEN ZHUOBIAO (CN)
Application Number:
PCT/CN2022/110899
Publication Date:
May 04, 2023
Filing Date:
August 08, 2022
Export Citation:
Assignee:
AMICRO SEMICONDUCTOR CO LTD (CN)
International Classes:
G01S17/08; G01C21/32; G01S7/481; G01S17/87
Foreign References:
| CN112629548A | 2021-04-09 | |||
| CN109783842A | 2019-05-21 | |||
| CN113009506A | 2021-06-22 | |||
| JP2007264952A | 2007-10-11 |
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