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Title:
THREE-DIMENSIONAL LASER MAPPING METHOD AND SYSTEM
Document Type and Number:
WIPO Patent Application WO/2021/109167
Kind Code:
A1
Abstract:
A three-dimensional laser mapping method and a system, the method comprising: acquiring data by using a sensor that is placed on a robot, and filtering out unqualified data; calculating the pose of the robot by using a coarse-to-fine matching algorithm; and constructing a new image according to the pose of the robot, and then modifying a map according to a loop closure detection result. By using the method and system, a scenario map having relatively high consistency can be generated, the calculation method is simple, and accuracy is high.

Inventors:
LIU SHENGMING (CN)
JIANG ZHIYING (CN)
RUI QINGQING (CN)
SI XIUFENG (CN)
Application Number:
PCT/CN2019/123931
Publication Date:
June 10, 2021
Filing Date:
December 09, 2019
Export Citation:
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Assignee:
SUZHOU AGV ROBOT CO LTD (CN)
International Classes:
G01C21/30
Foreign References:
CN106541945A2017-03-29
CN108303710A2018-07-20
CN109887028A2019-06-14
CN108090958A2018-05-29
CN108180917A2018-06-19
CN105843223A2016-08-10
US20190114777A12019-04-18
Other References:
LI KAI: "A Portable Real-time 3D Reconstruction System for Digital Factories", CHINA MASTER’S THESES FULL-TEXT DATABASE, UNITED STATES, 1 January 2017 (2017-01-01), United States, XP055819160
XIAO YUE: "Research on SLAM of Robot Based on the Fusion of LIDAR and Vision", CHINA MASTER’S THESES FULL-TEXT DATABASE, 1 June 2018 (2018-06-01), XP055819152
Attorney, Agent or Firm:
CENTRAL SOUTH WELL INTELLECTUAL PROPERTY OFFICE (CN)
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