Title:
ROBOT, AND ENVIRONMENT MAP CONSTRUCTION METHOD AND APPARATUS THEREFOR
Document Type and Number:
WIPO Patent Application WO/2022/252482
Kind Code:
A1
Abstract:
A robot, and an environment map construction method and apparatus therefor. The method comprises: acquiring a sensing data frame during a moving process of a robot, and an absolute position, and generating a sensing data frame library; according to an absolute position corresponding to a sensing data frame currently acquired by the robot, and a preset distance threshold value, searching the sensing data frame library for an absolute position that matches the current absolute position, and a sensing data frame corresponding to the matching absolute position; and matching the found sensing data frame with the currently acquired sensing data frame, and performing loop closure optimization and environment map construction according to a matching result. A sensing data frame is screened by means of an absolute position, such that the problem of detecting a wrong loop closure point in a similar scenario can be avoided; and the sensing data frame is screened by means of the absolute position, such that the probability of being unable to complete matching can be reduced, thereby facilitating reducing the matching calculation amount of the sensing data frame, and improving the efficiency of environment map construction.
Inventors:
TANG YU (CN)
XIONG YOUJUN (CN)
XIONG YOUJUN (CN)
Application Number:
PCT/CN2021/126706
Publication Date:
December 08, 2022
Filing Date:
October 27, 2021
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
G06F16/245
Foreign References:
| CN113297259A | 2021-08-24 | |||
| CN109141393A | 2019-01-04 | |||
| CN110727265A | 2020-01-24 | |||
| CN109974701A | 2019-07-05 | |||
| CN110554396A | 2019-12-10 | |||
| CN111881233A | 2020-11-03 | |||
| CN104390643A | 2015-03-04 | |||
| CN109141442A | 2019-01-04 | |||
| US20180356492A1 | 2018-12-13 |
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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