Title:
ROBOT MAPPING METHOD AND DEVICE, COMPUTER READABLE STORAGE MEDIUM, AND ROBOT
Document Type and Number:
WIPO Patent Application WO/2022/110473
Kind Code:
A1
Abstract:
A robot mapping method and device, a computer readable storage medium, and a robot. The method comprises: obtaining a first point cloud and a first pose acquired by a robot at the current moment, and a second point cloud and a second pose acquired at a historical moment (S101); calculating a pose difference between the first pose and the second pose (S102); projecting the second point cloud to coordinates of the first point cloud according to the pose difference to obtain a third point cloud (S103); screening out a dynamic object point cloud in the first point cloud according to the third point cloud (S104); and removing the dynamic object point cloud from the first point cloud to obtain a fourth point cloud, and performing robot mapping by using the fourth point cloud (S105). By means of the method, the influence of the dynamic object point cloud can be eliminated from the current point cloud data according to historical point cloud data, so that the precision of mapping is greatly improved.
Inventors:
HE WANJUN (CN)
LIU ZHICHAO (CN)
LIU ZHICHAO (CN)
Application Number:
PCT/CN2020/140430
Publication Date:
June 02, 2022
Filing Date:
December 28, 2020
Export Citation:
Assignee:
UBTECH ROBOTICS CORP LTD (CN)
International Classes:
G01C21/32
Foreign References:
| CN108664841A | 2018-10-16 | |||
| CN108460791A | 2018-08-28 | |||
| CN107610177A | 2018-01-19 | |||
| CN110019570A | 2019-07-16 | |||
| CN110009718A | 2019-07-12 | |||
| CN109285220A | 2019-01-29 | |||
| CN110197615A | 2019-09-03 | |||
| US20190286915A1 | 2019-09-19 |
Attorney, Agent or Firm:
SHENZHEN ZHONGYI UNION INTELLECTUAL PROPERTY AGENCY CO.,LTD. (CN)
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