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Mapping method based on pose map adjustment and related equipment

A posture and adjusted technology, applied in the field of mobile robots, can solve problems such as poor mapping effect, and achieve the effect of improving the success rate and consistency of mapping

Pending Publication Date: 2021-11-19
ZHEJIANG DAHUA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, 2D laser-based SLAM is usually used, for example, filtering-based methods or graph-based optimization methods, which have the problem of poor mapping effect

Method used

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  • Mapping method based on pose map adjustment and related equipment
  • Mapping method based on pose map adjustment and related equipment
  • Mapping method based on pose map adjustment and related equipment

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Embodiment Construction

[0027] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0028] This application proposes a mapping method based on pose graph adjustment, for details, please refer to figure 1 , figure 1 is a schematic flow chart of an embodiment of the pose graph adjustment-based mapping method provided by this application. The mapping method based on pose graph adjustment in this embodiment can be applied to a mapping device. The mapping device of this application can be a server, a mobile device, or a system in w...

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Abstract

The invention provides a mapping method based on pose map adjustment and related equipment. The method comprises the following steps: acquiring a fitting line segment and a target line segment of wrong point cloud data in a point cloud map, and confirming an adjustment mode between the fitting line segment and the target line segment; determining a fitting pose sequence corresponding to the point cloud near the fitting line segment and a target pose sequence corresponding to the point cloud near the target line segment; determining a new closed-loop constraint where the target pose sequence is located based on the adjustment mode, the fitting pose sequence and the target pose sequence; and performing optimization processing on all closed-loop constraints in the pose map by using the new closed-loop constraints to obtain a plurality of optimized closed-loop constraints, and reconstructing the target map based on the plurality of optimized closed-loop constraints. According to the invention, the mapping consistency is improved.

Description

technical field [0001] The present application relates to the technical field of mobile robots, in particular to a method for constructing a map based on pose graph adjustment and related equipment. Background technique [0002] A mobile robot is a robot with a high degree of self-planning, self-organizing, and self-adaptive capabilities. At present, mobile robots have shown more and more extensive application prospects in various industries. In the research of mobile robot-related technologies, navigation and positioning technology is the core and key of its research, and it is also the key to realize the intelligence of mobile robots, and mapping is an important basis for robots to achieve positioning. At present, 2D laser-based SLAM is usually used, for example, a filtering-based method or a graph optimization-based method, which has the problem of poor mapping effect. Contents of the invention [0003] This application provides a mapping method based on pose graph ad...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06T7/70
CPCG06T17/05G06T7/70G06T2207/10028
Inventor 王坤林辉卢维殷俊涂曙光
Owner ZHEJIANG DAHUA TECH CO LTD
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