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Robot repositioning and environment map construction method, robot and storage medium

A robot and relocation technology, applied in the direction of navigation calculation tools, etc., can solve the problems of low relocation efficiency and large amount of calculation, and achieve the effect of narrowing the matching range, reducing the amount of calculation, and improving the efficiency of relocation

Active Publication Date: 2018-11-06
ECOVACS COMML ROBOTICS CO LTD
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  • Claims
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Problems solved by technology

However, this relocation method requires a large amount of calculation, and the relocation efficiency is low.

Method used

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  • Robot repositioning and environment map construction method, robot and storage medium
  • Robot repositioning and environment map construction method, robot and storage medium
  • Robot repositioning and environment map construction method, robot and storage medium

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Embodiment Construction

[0034] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0035] In view of the technical problems such as large amount of calculation and low efficiency in the relocation of existing robots, in some embodiments of the present application, laser sensors and visual sensors are combined, and firstly based on the environmental images collected by the visual sensor, the visual map is quickly performed. The preli...

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Abstract

The embodiment of the application provides a robot repositioning and environment map construction method, a robot and a storage medium. According to the robot repositioning and environment map construction method, firstly, when performing repositioning on robot, the environmental image captured by a visual sensor is fast matched in a visual map to obtain a preliminary estimated pose by combining alaser sensor and the visual sensor, and the environmental data collected by the laser sensor on a grid map are locally matched to obtain accurate pose by combining the preliminary estimated pose. Since the matching range of the grid map is reduced by using the preliminary estimated pose, the calculation amount in the grid matching is reduced, which is beneficial to the improvement of the relocation efficiency.

Description

technical field [0001] The present application relates to the technical field of artificial intelligence, and in particular to a method for robot relocation and environment map construction, a robot and a storage medium. Background technique [0002] With the development of artificial intelligence technology, the research and development of mobile robots is very rapid, and some service robots have gradually entered people's daily life. No matter what type of robot, as long as it moves autonomously, it needs to navigate and locate in the home or other environments. [0003] In the existing technology, some robots are equipped with laser sensors, combined with real-time positioning and map construction (Simultaneous Localization and Mapping, SLAM) technology, under the condition of uncertain location, they can construct an environmental map in an unknown environment, and use the environmental map Carry out autonomous positioning and navigation. [0004] In practical applicat...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 薛景涛
Owner ECOVACS COMML ROBOTICS CO LTD
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