Title:
AUTONOMOUS MOBILE APPARATUS POSITIONING METHOD BASED ON POINT CLOUD MAP DYNAMIC LOADING
Document Type and Number:
WIPO Patent Application WO/2022/257196
Kind Code:
A1
Abstract:
An autonomous mobile apparatus positioning method based on point cloud map dynamic loading. The method comprises: step one, calibration, involving: performing online calibration and alignment on an inertial measurement unit (IMU) and a lidar by means of constructing an error model of the IMU; step two, constructing a map, involving: setting a point cloud loading rule, a mobile platform carrying the calibrated lidar and the calibrated IMU to record bags, and performing map construction on the bags on the basis of a loam algorithm of downsampling; step three, performing modular partitioning processing on the constructed map, so as to obtain a plurality of block maps that can be loaded by a robot, wherein a loading area is reserved between adjacent block maps; and step four, performing map mapping. By means of the method, a positioning deviation caused by a human error during the movement and matching of a carrier can be eliminated, and an initial loading speed is greatly increased, thereby ensuring that a movement speed and a matching speed of an inspection robot during the movement process remain stable, and realizing the reliability of full-time positioning.
Inventors:
JIANG TAO (CN)
CAI MINGXI (CN)
XV LIN (CN)
ZOU YANLING (CN)
ZHANG LINSHUAI (CN)
LI CHEN (CN)
CAI MINGXI (CN)
XV LIN (CN)
ZOU YANLING (CN)
ZHANG LINSHUAI (CN)
LI CHEN (CN)
Application Number:
PCT/CN2021/102443
Publication Date:
December 15, 2022
Filing Date:
June 25, 2021
Export Citation:
Assignee:
UNIV CHENGDU INFORMATION TECHNOLOGY (CN)
International Classes:
G01C21/00; G01C21/16; G01S17/86; G01S17/88; G01S19/39; G01S19/46; G01S19/47
Foreign References:
| CN112082565A | 2020-12-15 | |||
| CN112014857A | 2020-12-01 | |||
| CN112347840A | 2021-02-09 | |||
| CN110927740A | 2020-03-27 | |||
| US20190219700A1 | 2019-07-18 |
Attorney, Agent or Firm:
CHINA FARFIR INTELLECTUAL PROPERTY AGENCY LTD. (CN)
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