Method and device for map construction of robot based on semantics

A map construction and robotics technology, applied in the field of robotics, can solve problems such as the inability to confirm the existence of objects and the inability to eliminate dynamic objects, etc., to achieve the effect of reducing the number, reducing system consumption, and accurate observation

Active Publication Date: 2018-11-27
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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AI Technical Summary

Problems solved by technology

[0003] In the prior art, the traditional map generation method based on 2D scanning data usually uses a mobile robot equipped with a 2D lidar to scan the data, and generates a map without semantics. The problem with such a map is that it is impossible to confirm What objects exist (stools, tables, vases, etc.) and cannot remove a large number of noise points caused by dynamic objects (pedestrians, cars, etc.) in the map

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  • Method and device for map construction of robot based on semantics
  • Method and device for map construction of robot based on semantics
  • Method and device for map construction of robot based on semantics

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Embodiment Construction

[0026] 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 refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with this specification. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present specification as recited in the appended claims.

[0027] The terms used in this specification are for the purpose of describing particular embodiments only, and are not intended to limit the specification. As used in this specification and 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 t...

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Abstract

The embodiment of the invention provides a method for map construction of a robot based on semantics. Firstly, N particle samples are obtained after last resampling, according to pose information of the robot at the t-1 moment and a probabilistic motion model of the robot, pose information of N particles at the t moment is estimated, wherein each particle corresponds to a possible trajectory of the robot; in semantic scanning data at the t moment, K semantic points corresponding to each particle in the N particles in different poses are acquired, a weight of each semantic point at the t momentis calculated, according to the weights of the K semantic points, a weight of each particle at the t moment is calculated, and the semantic scanning data at least comprises data with object probability labels; the particle with the largest weight in the N particles is acquired, and according to the semantic scanning data corresponding to the particle with the largest weight, a semantic map is constructed.

Description

technical field [0001] This specification relates to the field of robots, and in particular to a method and device for robots to construct maps based on semantics. Background technique [0002] The intelligence of autonomous mobile robots is mainly reflected in the ability to build consistent environmental maps, autonomous positioning and navigation functions. Among them, the reliability of the environment map and the amount of information it contains are the key prerequisites for the localization and navigation of mobile robots. [0003] In the prior art, the traditional map generation method based on 2D scanning data usually uses a mobile robot equipped with a 2D lidar to scan the data, and generates a map without semantics. The problem with such a map is that it is impossible to confirm What objects exist (stools, tables, vases, etc.) and cannot remove a large number of noise points caused by dynamic objects (pedestrians, cars, etc.) in the map. Contents of the inventi...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F17/30G01C21/32
CPCG01C21/32
Inventor 陈明建
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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