Laser-radar-based positioning method in corridor environment, computer storage medium and electronic device

Abstract

The invention provides a laser-radar-based positioning method in a corridor environment, a computer storage medium and an electronic device. The method comprises: S1, acquiring an initial pose of a laser radar; S2, acquiring a coordinate of a reflector board inside a corridor; S3, acquiring an orientation angle of laser emitting by the laser radar and marking the orientation angle as yaw; S4, calculating a coordinate of the laser radar according to the orientation angle yaw of the laser radar and the coordinate of the reflector board; and S5, updating the coordinate of the laser radar and skipping to the S2. According to the invention, with fusion of advantages of the scanning matching method and reflector board positioning method, a problem of positioning failure in the corridor environment according to the scanning matching method is solved. Moreover, positioning can be carried out only by detecting one reflector board; and Compared with the traditional reflector board positioning scheme, the provided positioning method enables the layout number of reflector boards in the environment to be reduced substantially. Meanwhile, the reflector board is arranged based on a simple rule; the method is easy to realize; and the positioning effect is not easily affected by the arrangement of the reflector board.

Description

technical field [0001] The invention relates to the field of laser positioning, and more specifically, to a positioning method based on laser radar in a corridor environment, a computer storage medium and electronic equipment. Background technique [0002] At present, the methods for locating the corridor environment usually include scanning matching method and reflector positioning method. Arrange reflectors according to certain rules, and use triangular positioning technology to achieve positioning. [0003] There are following defects in above-mentioned two kinds of methods: [0004] The scan matching method is mainly based on the contour information of the environment for positioning, so it cannot be accurately positioned in the corridor environment with very similar environments. [0005] The reflector positioning adopts triangular positioning technology, so it is necessary to detect at least three or more non-collinear reflectors at the same time to locate, so it is ...

AI Technical Summary

Problems solved by technology

[0004] The scan matching method is mainly based on the contour information of the environment for positioning, so it cannot be accurately positioned in the corridor environment with very similar environments

[0005] The reflector positioning adopts triangular positioning technology, so it is necessary to detect at least three or more non-collinear reflectors at the same time to locate, so it is necessary to arrange a large number of reflectors densely in the environment; the reflector layout rules are complicated, and the result of the layout will be Directly affect the effect of positioning

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