Title:
PLANAR MOTION CONSTRAINT METHOD, ELECTRONIC DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/227241
Kind Code:
A1
Abstract:
A planar motion constraint method, an electronic device (400), and a storage medium, applied to a robot system. Data of a camera and an inertial measurement sensor is fused to obtain a current pose of the camera, the current pose of the camera is constrained by means of a planar constraint equation to obtain a motion loss function of the camera, and the current pose of the camera, the motion function of the camera, and the data of the inertial measurement sensor are fused, so as to obtain a fusion positioning result of the camera and an inertial measurement unit having a plane constraint, so that a robot can be positioned with high precision.
Inventors:
CHEN GUOJUN (CN)
Application Number:
PCT/CN2021/100233
Publication Date:
November 03, 2022
Filing Date:
June 16, 2021
Export Citation:
Assignee:
SHANGHAI YOGO ROBOT CO LTD (CN)
International Classes:
G01C21/16
Foreign References:
| CN111739102A | 2020-10-02 | |||
| CN107314778A | 2017-11-03 | |||
| CN106123890A | 2016-11-16 | |||
| CN107516326A | 2017-12-26 | |||
| CN111678521A | 2020-09-18 | |||
| US20080279421A1 | 2008-11-13 |
Attorney, Agent or Firm:
BEIJING TIANDUN INTELLECTUAL PROPERTY AGENT LTD. (CN)
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