Mapping method and device

A map and particle technology, applied in the computer field, can solve problems such as high resource occupation rate, detection deviation, and discontinuous obstacle detection, and achieve the effects of avoiding mapping deviation, ensuring map effect, and reducing resource utilization

Pending Publication Date: 2019-09-20
JD DIGITS HAIYI INFORMATION TECHNOLOGY CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] For maps constructed using traditional SLAM technology, obstacle detection is discontinuous, detection is biased, and resource usage is too high when building large maps

Method used

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  • Mapping method and device
  • Mapping method and device

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Embodiment Construction

[0036] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0037] figure 1 is a schematic diagram of the main steps of the mapping method according to the embodiment of the present invention. Such as figure 1 As shown, the mapping method of the embodiment of the present invention mainly includes the following steps:

[0038] Step S101: Predict the pose of the particle at the current moment according to the motion model and the ...

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Abstract

The invention discloses a mapping method and a mapping device, which relate to the technical field of computers. A specific implementation manner of the mapping method comprises the steps of: predicting a pose of a particle at a current moment according to a motion model and a pose of the particle at a previous moment; taking the pose of the particle at the current moment as an initial pose, scanning and matching acquired observation data and a map corresponding to the particle in the corresponding pose to obtain a corrected pose of the particle and an updated map; connecting points determined to be obstacles in the updated map, and performing morphological filtering and connected domain analysis on the updated map after connection to obtain an optimized map. After the mapping method obtains the updated map based on a motion model and the observation data, the morphological filtering and connected domain analysis are performed on the updated map, and points at which the obstacles are detected to be disconnected on the map.

Description

technical field [0001] The invention relates to the field of computers, in particular to a method and device for building a map. Background technique [0002] For the field of robotics, it is a basic task to autonomously explore unknown areas and construct an accurate environmental map, and it is also the key for mobile robots to complete functions such as autonomous navigation in the later stage. In the prior art, robots use SLAM (Simultaneous Localization And Mapping, real-time positioning and map construction) technology to construct maps in unknown environments when their own positions are uncertain, and use the constructed maps for autonomous positioning and navigation. [0003] In the course of realizing the present invention, the inventor finds that there are at least the following problems in the prior art: [0004] For maps constructed using traditional SLAM technology, obstacle detection is discontinuous and biased, and resource usage is too high when constructing...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/00G01C21/16G01S17/02G01S17/89
CPCG01C21/005G01C21/165G01S17/89G01S17/86
Inventor 郭新然王超蔡小龙
Owner JD DIGITS HAIYI INFORMATION TECHNOLOGY CO LTD
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