Method, device, robot and storage medium for determining robot pose

Abstract

The present application discloses a method for determining the pose of a robot, including: acquiring the two-dimensional code image collected by the camera of the robot and the sensing data collected by the inertial sensor of the robot, and determining the The mileage information within, wherein the sensing data includes acceleration and angular velocity; according to the two-dimensional code information and the attitude estimation function recognized from the two-dimensional code image, determine the first pose of the camera, and according to The sensing data determines a second pose of the inertial sensor; performing tightly coupled optimization processing based on the first pose and the second pose to obtain a third pose; combining the third pose and the second pose The mileage information is fused to obtain the pose of the robot. The application also discloses a device for determining the pose of a robot, a robot and a computer-readable storage medium. The application improves the accuracy rate of locating robot poses in complex scenes.

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

Images