Title:
RELOCATION EFFECT EVALUATION METHOD AND APPARATUS, ELECTRONIC DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/253789
Kind Code:
A1
Abstract:
A relocation effect evaluation method and apparatus, an electronic device, and a storage medium, applied to the field of robotics. The method comprises: obtaining a real map set (101); generating a virtual map set according to the real map set (102); inputting the virtual map set into a sub-map matching algorithm to be evaluated to obtain a relocation result (103); and evaluating, according to the relocation result, the relocation effect of the sub-map matching algorithm to be evaluated (104). The present method solves the problem of waste of resources in the related art because when verifying the matching effect of robot relocation in different maps by means of the sub-map matching algorithm, due to the lack of real scenes in corresponding maps, it takes a lot of time during finding and constructing a real scene.
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Inventors:
GUO SHAOFENG (CN)
TAN ZEHAN (CN)
CHEN YANYU (CN)
MA YAQI (CN)
TAN ZEHAN (CN)
CHEN YANYU (CN)
MA YAQI (CN)
Application Number:
PCT/CN2020/139854
Publication Date:
December 23, 2021
Filing Date:
December 28, 2020
Export Citation:
Assignee:
GREE ELECTRIC APPLIANCES WUHAN CO LTD (CN)
GREE ELECTRIC APPLIANCES INC ZHUHAI (CN)
ZHUHAI LEAYUN TECH CO LTD (CN)
GREE ELECTRIC APPLIANCES INC ZHUHAI (CN)
ZHUHAI LEAYUN TECH CO LTD (CN)
International Classes:
G06T3/40
Foreign References:
| CN111932451A | 2020-11-13 | |||
| CN109141437A | 2019-01-04 | |||
| CN108446667A | 2018-08-24 | |||
| CN108759844A | 2018-11-06 | |||
| CN108801254A | 2018-11-13 | |||
| US20190234746A1 | 2019-08-01 |
Other References:
MA YUELONG;CAO XUEFENG;CHEN DING;LI DENGFENG;JIANG BINGCHUAN: "A Method for Real-time Relocalization of Indoor Robot with Point Cloud Map", JOURNAL OF SYSTEM SIMULATION, vol. 29, no. Suppl1, 8 December 2017 (2017-12-08), pages 15 - 23+29, XP055881920, ISSN: 1004-731X, DOI: 10.16182/j.issn1004731x.joss.2017S1003
XU DAI XU: "ORB-SLAM2-like compilation and measurement of TUM numbers", 6 February 2018 (2018-02-06), pages 1 - 8, XP055881925, Retrieved from the Internet
XU DAI XU: "ORB-SLAM2-like compilation and measurement of TUM numbers", 6 February 2018 (2018-02-06), pages 1 - 8, XP055881925, Retrieved from the Internet
Attorney, Agent or Firm:
BEIJING XURUN LAW FIRM (CN)
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