Point cloud based positioning method and apparatus, and electronic device
A positioning method and technology of positioning position, applied in the field of intelligent robots, can solve the problems of high cost and complex positioning method, and achieve the effect of reducing equipment cost, simplifying equipment structure and accurate positioning
Inactive Publication Date: 2018-05-18
BEIJING QIHOO TECH CO LTD
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Problems solved by technology
[0003] However, the inventor found in the process of realizing the present invention that most existing robots equipped with positioning equipment need to rely on the mileage information fed back by the odometer for positioning, so the positioning method is complicated and the cost is high
It can be seen that there is a lack of a method for accurate positioning without relying on the odometer in the prior art
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[0080] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0081] figure 1 A flow chart of a point cloud-based positioning method provided by an embodiment of the present invention is shown. Such as figure 1 As shown, the method includes the following steps:
[0082] Step S101: After the point cloud data of the current frame is obtained, determine the local search area according to the previous frame location point corresponding to the previous frame point cloud data.
[0083] First, af...
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The present invention discloses a point cloud based positioning method and apparatus, and an electronic device. The method comprises: after acquiring point cloud data of a current frame, determining alocal search area according to a positioning position point of a previous frame corresponding to the point cloud data of the previous frame; acquiring positioning angle information corresponding to the point cloud data of the current frame, and according to the positioning angle information, determining a positioning position point which is contained in the local search area and is matched with the point cloud data of the current frame; determining the positioning position point matched with the point cloud data of the current frame as the position point of the current frame corresponding tothe point cloud data of the current frame; and according to the positioning position point of the current frame, updating the positioning position of a to-be-positioned object. According to the schemeof the present invention, accurate positioning can be achieved without relying on the odometer, thereby simplifying the equipment structure and reducing the equipment cost.
Description
technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a point cloud-based positioning method, device and electronic equipment. Background technique [0002] With the development of science and technology and the continuous improvement of people's requirements for the quality of life, intelligent robots gradually appear in people's daily life, such as cleaning robots, industrial robots, service robots, robots that carry goods in warehouses, etc. In order to understand the working conditions of the robot, it is necessary to locate the robot in real time, so as to obtain the walking route and location of the robot. [0003] However, the inventors found in the process of implementing the present invention that most existing robots equipped with positioning equipment need to rely on the mileage information fed back by the odometer for positioning, so the positioning method is complicated and the cost is high. It can be seen t...
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CPCG06T2207/10028G06T7/74
Inventor 刘坤谭平栾成志潘俊威
Owner BEIJING QIHOO TECH CO LTD