Grid map positioning method fusing NDT and ICP
A positioning method and grid map technology, applied in the field of positioning, can solve the problems of limiting the scope of use of robots and increasing costs, and achieve the effect of shortening execution time and improving accuracy
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[0040] The specific implementation of the present invention will be described in further detail below by describing the embodiments with reference to the accompanying drawings, so as to help those skilled in the art have a more complete, accurate and in-depth understanding of the inventive concepts and technical solutions of the present invention.
[0041] The invention aims to solve the problem of relocation of the mobile robot after abnormal situations such as "kidnapping" or restarting, and realize precise positioning only through laser sensors. The general idea of the present invention is: the global map point cloud and the current laser frame point cloud use the NDT algorithm to obtain the initial pose, and then use the ICP algorithm to obtain the current laser radar pose to realize relocation. On the basis of the relocation results, two adjacent frames of laser point cloud data are used to fuse NDT and ICP algorithms to achieve continuous positioning.
[0042] The grid...
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