Robot image scanning method and device, storage medium and robot
A robot and sub-map technology, applied in the field of robots, can solve the problem that the map creation method is difficult to meet the accuracy and speed requirements, and achieve the effect of improving service quality and user satisfaction, improving efficiency and accuracy
Pending Publication Date: 2021-04-30
SHANGHAI YOGO ROBOTICS CO LTD
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[0005] The invention provides a robot scanning method, device, storage medium and robot, which solves the technical problem that the map creation method in the prior art is difficult to meet the accuracy and speed requirements
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[0056] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
[0057] It should be noted that, if there is no conflict, various features in the embodiments of the present invention may be combined with each other, and all of them are within the protection scope of the present invention. In addition, although the functional modules are divided in the schematic diagram of the device, and the logical order is shown in the flowchart, in some cases, the division ...
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The invention discloses a robot image scanning method and device, a storage medium and a robot. The method comprises steps of odometer data, inertia measurement unit data and local optimization poses of the robot being fused; correcting the motion distortion of the first real-time laser scanning data to generate second real-time laser scanning data; taking a fusion result as an initial pose of a front-end scanning matcher, and constructing a sub-map based on the second real-time laser scanning data; optimizing all the sub-maps through loop detection; and splicing the optimized sub-maps into a large map. The method is advantaged in that the extended Kalman filtering method is adopted to fuse data of a plurality of sensors, the interpolation method is adopted to eliminate motion distortion in laser scanning data, and the Gauss-Newton iteration process used for updating the sub-map is optimized, so efficiency and precision of creating the environment map by the service robot are greatly improved; and the service quality and the user satisfaction of the robot are improved.
Description
technical field [0001] The invention relates to the field of robots, in particular to a scanning method, device, storage medium and robot for a robot. Background technique [0002] With the rapid development of the robot industry, various service robots emerge in an endless stream, and robots are more and more widely used in our life and work. At present, there are many methods for robots to build maps. SLAM (Simultaneous Localization And Mapping, real-time positioning and map construction) is the most commonly used method. The positioning of its own position and attitude and the system of scene map information. The essence of SLAM is a system state estimation problem, that is, under the condition of given system input, estimate the pose of the robot and the coordinates of the map points, so two types of SLAM algorithms based on Bayesian filtering and graph optimization are extended. [0003] The method based on Bayesian filtering is a Bayesian iterative state estimation t...
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IPC IPC(8): G01C21/32G06F16/29G06K9/62
CPCG01C21/32G06F16/29G06F18/25
Inventor 李岩
Owner SHANGHAI YOGO ROBOTICS CO LTD