Title:
ROBOT POSITIONING METHOD AND APPARATUS, DEVICE AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/088613
Kind Code:
A1
Abstract:
A robot positioning method, comprising: acquiring first position information of a robot in a first moment, acquiring a second image of the robot in a second moment, and acquiring, on the basis of the second image, first estimated position information of the robot in the second moment; collecting movement parameters of the robot in the process from the first moment to the second moment; calculating, on the basis of the first position information and the movement parameters, to obtain second estimated position information of the robot in the second moment; and obtaining second position information of the robot in the second moment by means of the first estimated position information and the second estimated position information. In the positioning method, the positioning results of a robot acquired by using two different means are fused, that is, a detection result of a vision system and a detection result of a dynamics system are fused, to thereby obtain position information of the robot. The positioning method enables obtained position information to be more accurate, thus improving robot positioning precision. Further provided are a robot positioning apparatus, a device and a storage medium.
Inventors:
YAO DACHEN (CN)
HE YUE (CN)
LI CHENG (CN)
HE YUE (CN)
LI CHENG (CN)
Application Number:
PCT/CN2021/085942
Publication Date:
May 05, 2022
Filing Date:
April 08, 2021
Export Citation:
Assignee:
BEIJING SENSETIME TECH DEVELOPMENT CO LTD (CN)
International Classes:
B25J9/16; G05D1/02
Foreign References:
| CN112405526A | 2021-02-26 | |||
| CN103438904A | 2013-12-11 | |||
| CN111319041A | 2020-06-23 | |||
| CN105698784A | 2016-06-22 | |||
| US20150005987A1 | 2015-01-01 |
Attorney, Agent or Firm:
CHINA PAT INTELLECTUAL PROPERTY OFFICE (CN)
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