Robot pose determination method and device, robot and storage medium

Abstract

The invention discloses a robot pose determination method, and the method comprises the steps: obtaining a two-dimensional code image collected by a camera of the robot and sensing data collected by an inertial sensor of the robot, and determining the mileage information of the robot in a preset duration, wherein the sensing data comprises an acceleration and an angular speed; determining a firstpose of the camera according to two-dimensional code information and a pose estimation function recognized from the two-dimensional code image, and determining a second pose of the inertial sensor according to the sensing data; performing tight coupling optimization processing based on the first pose and the second pose to obtain a third pose; and carrying out fusion processing on the third pose and the mileage information to obtain the pose of the robot. The invention further discloses a robot pose determination device, the robot and a computer readable storage medium. According to the invention, the accuracy of positioning the pose of the robot in a complex scene is improved.

Description

technical field [0001] The present application relates to the field of robots, and in particular to a method for determining a pose of a robot, a device for determining a pose of a robot, a robot, and a computer-readable storage medium. Background technique [0002] When the robot performs tasks autonomously, obtaining the accurate motion posture of the robot itself is the key to the completion quality of the robot's autonomous task execution. However, mobile robots currently using visual positioning and mapping are vulnerable to lighting changes and crowd flow in complex scenes (such as stage booths, etc.), which can easily lead to lost or inaccurate positioning. [0003] Therefore, the current robot positioning methods are generally difficult to adapt to complex scenes such as complex lighting and multi-dynamic objects, resulting in low accuracy in positioning the robot's pose in complex scenes. [0004] The above content is only used to assist in understanding the techni...

AI Technical Summary

Problems solved by technology

[0005] The main purpose of this application is to provide a method for determining the pose of a robot, a device for determining the pose of a robot, a robot, and a computer-readable storage medium, aiming at solving the problem of how to improve the accuracy of locating the pose of a robot in a complex scene

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