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Method and device for constructing map

A map, the same technology, applied in the field of navigation, can solve the problem of low accuracy of map construction

Active Publication Date: 2018-09-18
ZHEJIANG DAHUA TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The present invention provides a method and device for constructing maps, which are used to solve the technical problem of low accuracy in constructing maps in existing SLAM schemes

Method used

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  • Method and device for constructing map

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Embodiment Construction

[0046] The technical solutions of the present invention will be described in detail below through the accompanying drawings and specific examples. It should be understood that the embodiments of the present invention and the specific features in the examples are detailed descriptions of the technical solutions of the present invention, rather than limitations to the technical solutions of the present invention. In the case of no conflict, the embodiments of the present invention and the technical features in the embodiments may be combined with each other.

[0047] It should be understood that in the description of the embodiments of the present invention, words such as "first" and "second" are only used to distinguish the purpose of description, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or imply order. "Multiple" in the description of the embodiments of the present invention means two or more.

[0048] Th...

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Abstract

The invention provides a method and a device for constructing a map. The method and the device solve the technical problem that the existing SLAM scheme is low in map construction accuracy in the prior art. The method comprises the following steps: in the process of controlling the movement of an AGV (automatic guided vehicle), a laser radar is used for carrying out scanning and ranging on the surrounding environment of the AGV at different positions, and obtaining a point cloud data frame containing the obstacle information, wherein the obstacle information comprises a plurality of obstacle points and the relative position information of each obstacle point relative to the AGV; when the number of scanned point cloud data frames reaches a preset frame number N, generating a local map on the basis of the scanned N point cloud data frames; when it is determined that the AGV repeatedly passes the same position, calculating a difference value between a first local map generated when the AGV first passes the same position and a second local map generated when the AGV passes the same position for the first time; optimizing all generated local maps according to the difference value between the first local map and the second local map.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a method and device for constructing a map. Background technique [0002] Simultaneous Localization and Mapping (SLAM) is a key technology for truly realizing fully autonomous mobile robots. The principle of existing SLAM map construction is: match each scanned point cloud data frame with the observed information, and generate maps incrementally. The accuracy of the map constructed by this incremental method is closely related to the matching accuracy of each point cloud data frame. [0003] However, in practical applications, the matching between the point cloud data frame and the observed information cannot be completely accurate, there will inevitably be errors, and as time goes by, these errors will continue to accumulate, resulting in the inaccuracy of the final generated map. Low precision. Contents of the invention [0004] The present invention provides a method a...

Claims

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Application Information

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IPC IPC(8): G09B29/00
CPCG09B29/005G09B29/007
Inventor 林辉卢维穆方波殷俊
Owner ZHEJIANG DAHUA TECH CO LTD
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