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Laser radar positioning method and device, robot and computation equipment

A laser radar and positioning method technology, applied in the field of robotics, can solve the problems of high price, small application range, poor reliability of single-line laser radar positioning, etc., and achieve the effect of improving positioning accuracy and reliability

Pending Publication Date: 2019-10-01
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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AI Technical Summary

Problems solved by technology

Multi-line lidar has many feature points, but is expensive, so its application range is small; single-line lidar is cheap, but it can collect less feature points of laser data, and the positioning reliability of single-line lidar in large outdoor scenes is poor

Method used

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  • Laser radar positioning method and device, robot and computation equipment
  • Laser radar positioning method and device, robot and computation equipment
  • Laser radar positioning method and device, robot and computation equipment

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Embodiment Construction

[0027] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0028] The application scenario of the embodiment of the present invention is the positioning of the laser radar. The laser radar is loaded on a certain mobile platform, and the location of the laser radar is the location of the mobile platform. The laser radar emits one or more laser beams into the surrounding environment of the mobile platform for scanning. The emitted laser light will interact with objects in the surrounding environment and r...

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Abstract

Embodiments of the invention relate to the technical field of robots, and disclose a laser radar positioning method. The method comprises the steps of obtaining multiple frames of point cloud data acquired by laser radar in a preset time window; determining a base coordinate system corresponding to each frame of point cloud data; converting the multiple frames of point cloud data to a same base coordinate system so as to obtain synthesized point cloud data; converting the synthesized point cloud data to a world coordinate system so as to obtain reference point cloud data of the synthesized point cloud data under the world coordinate system; and matching the reference point cloud data with a preset point cloud map so as to obtain an accurate position of the laser radar. According to the method, the multiple frames of point cloud data are synthesized into one frame of synthesized point cloud data, and the accurate position of the laser radar is determined according to the synthesized laser radar, so that the laser radar positioning precision is improved.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of robots, and in particular to a laser radar positioning method, device, robot and computing equipment. Background technique [0002] With the continuous advancement of science and technology, automatic positioning technology has become a hot research topic in today's society. Because laser radar has the advantages of high distance resolution and angular resolution, high anti-interference ability, and small size, laser radar positioning technology is the current automatic positioning technology. One of the hot technologies in positioning technology. [0003] The existing laser slam positioning methods can be divided into two categories, the 2D grid map positioning method based on single-line lidar and the 3D point cloud map positioning method based on multi-line lidar. Multi-line lidar has many feature points, but is expensive, so its application range is small; single-line lidar ...

Claims

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Application Information

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IPC IPC(8): G01S7/48
CPCG01S7/4802
Inventor 李连中侍世腾
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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