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Title:
REPOSITIONING METHOD AND DEVICE FOR MOBILE EQUIPMENT
Document Type and Number:
WIPO Patent Application WO/2023/005384
Kind Code:
A1
Abstract:
A repositioning method and device for mobile equipment. The method comprises: obtaining sensor data acquired by a sensor in a working environment (101); when the number of first identifiers determined according to the sensor data is greater than or equal to a number threshold, determining, from second identifiers recorded in a global map of the working environment, second identifiers matching the first identifiers (102); calculating initial pose information of the mobile equipment according to correspondences between the first identifiers and the second identifiers (103); and determining target pose information of the mobile equipment according to the initial pose information, the global map, and the sensor data (104). By deploying identifiers in a similar working environment, the similarity between similar local areas can be reduced, thereby reducing the probability of occurrence of singularity problems in repositioning. For a working environment in which large changes occur frequently, a coarse positioning process is not affected by environmental changes, and the positioning accuracy is improved.

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Inventors:
LIU SHIFEI (CN)
MA YUNFEI (CN)
LAI WENQIAN (CN)
Application Number:
PCT/CN2022/094718
Publication Date:
February 02, 2023
Filing Date:
May 24, 2022
Export Citation:
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Assignee:
BEIJING KUANGSHI TECH CO LTD (CN)
International Classes:
G01C21/20
Domestic Patent References:
WO2020192105A12020-10-01
Foreign References:
CN110456797A2019-11-15
CN112255616A2021-01-22
CN111856447A2020-10-30
US20210164800A12021-06-03
CN113776533A2021-12-10
CN114088114A2022-02-25
CN109655805A2019-04-19
CN104764457A2015-07-08
CN104501811A2015-04-08
CN112433211A2021-03-02
CN110954112A2020-04-03
Attorney, Agent or Firm:
BEIJING RUN ZEHENG INTELLECTUAL PROPERTY LAW FIRM (CN)
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