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Method for Determining Mapping Effect Index and Device for Determining Mapping Effect Index

A technology for determining methods and indicators, which is applied in the field of computer-readable storage media and robots, can solve problems such as high equipment cost, high operation complexity, and difficult robot mapping effects, and achieve the effect of reducing operation complexity and controlling costs

Active Publication Date: 2020-05-05
BEIJING SANKUAI ONLINE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The first method in related technologies requires manual participation, and the operation complexity is relatively high. In order to accurately determine the real path of the robot, the second method requires high equipment costs. Figure effect

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  • Method for Determining Mapping Effect Index and Device for Determining Mapping Effect Index
  • Method for Determining Mapping Effect Index and Device for Determining Mapping Effect Index

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Embodiment Construction

[0074] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings indicate the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

[0075] The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as use...

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Abstract

The invention provides a method for determining mapping effect indexes. The method comprises the steps of acquiring a map generated by a laser sensor; determining the edge ambiguity of the map and / orthe number of closed blocks and / or the number of angle points and / or the ratio of angular lines; according to the edge ambiguity and / or the number of closed blocks and / or the number of angle points and / or the ratio of angular lines, determining an index for judging the mapping effect of the map. According to the embodiment of the invention, the four types of data, namely the edge ambiguity, the number of closed blocks, the number of angle points and the ratio of angular lines, are obtained through the generated map. Meanwhile, the above data can also be obtained through the real-time operationof a robot in real time. Therefore, neither the manual collection nor extra equipment is required. Based on the above fact, the index for judging the mapping effect of the map is accordingly determined. The operation complexity of determining the index can be reduced, and the control cost is reduced.

Description

technical field [0001] The present invention relates to the technical field of robots, in particular to a method for determining a mapping effect index, a device for determining a mapping effect index, a computer-readable storage medium, and a robot. Background technique [0002] Generating maps through laser sensors is the basis for the current realization of robot automatic navigation. In order for the robot to navigate accurately, it is necessary to ensure the mapping effect of the map, that is, to ensure that the map is as consistent as possible with the actual environment. [0003] There are two main schemes for determining the mapping effect in related technologies. One is to compare the map generated by laser scanning with the real plane map collected manually, and determine the mapping effect according to the similarity between the two images; the other is to compare the map generated by laser scanning The path in the generated map is compared with the real path dri...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/00G06T7/13G06T7/60
CPCG06T7/0002G06T7/13G06T7/60G06T2207/20024G06T2207/30168
Inventor 史皓天
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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