Title:
METHOD, APPARATUS, AND SYSTEM FOR CONSTRUCTING MAP IN LONG CORRIDOR BY USING LASER SLAM, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/000809
Kind Code:
A1
Abstract:
A method, apparatus, and system for constructing a map in a long corridor by using laser SLAM, and a storage medium. The method comprises: step S1, acquiring point cloud data of a lidar; step S2, extracting line segments from the point cloud data, determining whether the environment is a long corridor environment according to the extracted line segments, and carrying out step S3 if determined that the environment is a long corridor environment, otherwise repeating steps S1 and S2; step S3, merging a predicted current robot position with a heading acquired after lidar scanning matching so as to obtain a fused robot pose; and step S4, using the fused robot pose as a pose for SLAM real-time positioning so as to achieve positioning and map construction in the long corridor environment.
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Inventors:
YANG YONG (CN)
WU ZEXIAO (CN)
HU ZHIYUAN (CN)
WU ZEXIAO (CN)
HU ZHIYUAN (CN)
Application Number:
PCT/CN2020/098684
Publication Date:
January 07, 2021
Filing Date:
June 29, 2020
Export Citation:
Assignee:
SHENZHEN 3IROBOTIX CO LTD (CN)
International Classes:
G01S17/89; G01C21/32
Domestic Patent References:
| WO2018142395A1 | 2018-08-09 |
Foreign References:
| CN110333495A | 2019-10-15 | |||
| CN108332758A | 2018-07-27 | |||
| CN107991680A | 2018-05-04 | |||
| CN108732584A | 2018-11-02 | |||
| CN103914068A | 2014-07-09 | |||
| CN109358340A | 2019-02-19 | |||
| CN107167148A | 2017-09-15 |
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
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