Title:
LOCALIZATION AND MAPPING METHOD, APPARATUS, ROBOT, AND COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2022/110767
Kind Code:
A1
Abstract:
A localization and mapping method, an apparatus, a robot (100), and a computer storage medium. The method comprises: performing linear feature extraction on obtained point cloud data at time t, and obtaining a corresponding plurality of line segments (S110); estimating the relative orientation of the robot (100) at time t relative to time t-1 (S120); performing, according to the relative orientation, line segment matching on the plurality of line segments corresponding to time t and a plurality of line segments obtained from performing linear feature extraction at time t-1, and obtaining a line to which each line segment belongs (S130); performing joint optimization on orientations of the robot (100) at each time and a two line parameterized representation format of all the lines, and obtaining line parameters of all the lines and orientations of the robot (100) at each time (S140). When representing a line, a two line parameterized representation format is used, and thus the amount of calculation can be reduced as much as possible, which can thereby improve calculation efficiency and shorten calculation time.
Inventors:
HE YIJIA (CN)
LAI WENQIAN (CN)
LIU XIAO (CN)
SHEN YI (CN)
LAI WENQIAN (CN)
LIU XIAO (CN)
SHEN YI (CN)
Application Number:
PCT/CN2021/100300
Publication Date:
June 02, 2022
Filing Date:
June 16, 2021
Export Citation:
Assignee:
MEGVII BEIJING TECH CO LTD (CN)
International Classes:
G01C21/32
Foreign References:
| CN112577500A | 2021-03-30 | |||
| CN110866927A | 2020-03-06 | |||
| CN107655473A | 2018-02-02 | |||
| CN110310331A | 2019-10-08 | |||
| CN111590595A | 2020-08-28 | |||
| US20110052043A1 | 2011-03-03 |
Attorney, Agent or Firm:
CHOFN INTELLECTUAL PROPERTY (CN)
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