Title:
MAP BUILDING METHOD FOR ROBOT, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2023/005377
Kind Code:
A1
Abstract:
The present disclosure provides a map building method for a robot, and a robot. The method comprises: acquiring a key frame image of a robot, and acquiring point cloud data of the key frame image; acquiring location information of the robot in the key frame image; according to the location information, mapping the point cloud data of the key frame image into a current map block; and mapping the current map block to a global map to obtain a navigation map of the robot. The present disclosure solves the problem in the related art that if positioning information of a frame image is inaccurate, an error would occur in the mapping of point cloud data to a map, resulting in an error in positioning. Since the map is divided into a plurality of map blocks, the point cloud data is mapped to the global map on the basis of the plurality of map block and the location information of the robot, and the robot performs positioning according to the navigation map, the accuracy of robot-based positioning is improved.
Inventors:
CAO MENG (CN)
Application Number:
PCT/CN2022/094632
Publication Date:
February 02, 2023
Filing Date:
May 24, 2022
Export Citation:
Assignee:
DREAME INNOVATION TECH SUZHOU CO LTD (CN)
International Classes:
G01S13/89; G06T7/73; G01S13/93; G06T7/33
Foreign References:
| CN113674351A | 2021-11-19 | |||
| CN111322993A | 2020-06-23 | |||
| CN101000507A | 2007-07-18 |
Other References:
FANG HUI, YANG MING, YANG RU-QING: "Image Alignment Based Outdoor Ground Feature Mapping", SHANGHAI JIAOTONG DAXUE XUEBAO - JOURNAL OF SHANGHAI JIAOTONGUNIVERSITY, SHANGHAI JIATONG UNIVERSITY PRESS, SHANGHAI,, CN, vol. 43, no. 6, 30 June 2009 (2009-06-30), CN , pages 893 - 893, XP093030449, ISSN: 1006-2467, DOI: 10.16183/j.cnki.jsjtu.2009.06.008
BAICHAQINGHUAN: "Occupancy Grid Map", BLOG CSDN, CSDN, CN, CN, pages 1 - 4, XP009543503, Retrieved from the Internet
MORAVEC, H. P. ET AL.: "High resolution maps from wide angle sonar", 1985 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 28 March 1985 (1985-03-28), pages 116 - 121, XP055147423, DOI: 10.1109/ROBOT.1985.1087316
BAICHAQINGHUAN: "Occupancy Grid Map", BLOG CSDN, CSDN, CN, CN, pages 1 - 4, XP009543503, Retrieved from the Internet
MORAVEC, H. P. ET AL.: "High resolution maps from wide angle sonar", 1985 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, 28 March 1985 (1985-03-28), pages 116 - 121, XP055147423, DOI: 10.1109/ROBOT.1985.1087316
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