Title:
METHOD AND APPARATUS FOR POSITIONING INDOOR ROBOT, AND TERMINAL DEVICE AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/134415
Kind Code:
A1
Abstract:
The present application is applicable to the technical field of robot positioning. Provided are a method and apparatus for positioning an indoor robot, and a terminal device and a storage medium. The method comprises: reading a plurality of point clouds in a point cloud file; respectively connecting the plurality of point clouds according to the spatial coordinates of the plurality of point clouds, so as to obtain a target region generated by the plurality of point clouds; performing random sampling on the target region to obtain a sampled point cloud; acquiring a real point cloud; and performing point cloud registration on the real point cloud and the sampled point cloud, and determining the position of a robot in a real environment. By means of the method, point clouds in an environment model of a real environment are sampled to obtain a sampled point cloud that can further describe the spatial distribution of the environment model, and precise registration is performed on the sampled point cloud and a real point cloud collected by a robot at the current moment, such that the accuracy of positioning the robot is improved.
Inventors:
LEI JUN (CN)
FAN ZESEN (CN)
SUN HUI (CN)
SU SHILONG (CN)
DING PEIRAN (CN)
SONG FANGYAN (CN)
SHI SHUQIN (CN)
FAN ZESEN (CN)
SUN HUI (CN)
SU SHILONG (CN)
DING PEIRAN (CN)
SONG FANGYAN (CN)
SHI SHUQIN (CN)
Application Number:
PCT/CN2021/090266
Publication Date:
June 30, 2022
Filing Date:
April 27, 2021
Export Citation:
Assignee:
CHINA CONSTRUCTION SCIENCE & TECH GROUP CO LTD (CN)
International Classes:
G06T7/73
Foreign References:
| CN112598737A | 2021-04-02 | |||
| CN111192313A | 2020-05-22 | |||
| CN103729872A | 2014-04-16 | |||
| CN111599001A | 2020-08-28 | |||
| CN102930597A | 2013-02-13 | |||
| CN109583457A | 2019-04-05 | |||
| CN108447116A | 2018-08-24 | |||
| US20200342674A1 | 2020-10-29 |
Other References:
SHANG JIANCHAO: "Research on In-door Robot Navigation Technology Based on Stereo Vision", MASTER THESIS, TIANJIN POLYTECHNIC UNIVERSITY, CN, no. 3, 15 March 2020 (2020-03-15), CN , XP055946278, ISSN: 1674-0246
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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