The invention provides a map
processing method, a medium and a program product, and relates to the technical field of
laser mapping, according to the embodiment, under the condition of triggering
loopback detection, a first relative
pose between a current frame and a historical
key frame is determined based on the current frame and the historical
key frame obtained by a
robot through scanning in a current scene; if the
loopback detection is successful, determining whether the current scene is a gallery scene based on the
point cloud of the historical
key frame; if it is confirmed that the current scene is the gallery scene, according to the angle of the gallery in the world coordinate
system and the mapping relation between the world coordinate
system and the coordinate
system where the gallery is located, the error in the first relative
pose in the gallery direction is eliminated, and a second relative
pose is obtained; according to the second relative pose, the contour map of the current scene is constructed, errors in the gallery direction (namely, parallel to the gallery direction) can be eliminated, at the moment, errors accumulated at the front end can be eliminated, and a correct contour map can be established.