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Positioning mapping method and device, equipment and medium

A pose and sub-map technology, applied in the field of positioning mapping and computer program products, can solve problems such as estimation method errors, and achieve the effect of satisfying output requirements, fast positioning and mapping

Active Publication Date: 2022-04-08
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Such an estimation method will produce errors, so further pose accuracy detection and error correction are required

Method used

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  • Positioning mapping method and device, equipment and medium
  • Positioning mapping method and device, equipment and medium
  • Positioning mapping method and device, equipment and medium

Examples

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Embodiment Construction

[0017] Exemplary embodiments of the present disclosure are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present disclosure to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0018] In the present disclosure, unless otherwise stated, using the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, temporal relationship or importance relationship of these elements, and such terms are only used for Distinguishes one element from another. In some examples, the first element and the second ...

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PUM

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Abstract

The invention provides a positioning mapping method, device and equipment and a medium, and relates to the technical field of computers and the field of robots, in particular to the positioning mapping technology. The method comprises the steps of determining a first estimated pose of a current frame based on scanning data of the current frame, a matching result of a first sub-image and a pose of the first sub-image, the first sub-image comprising scanning data of a common-view frame; adding the scanning data of the current frame into the first subgraph; determining a plurality of candidate poses around the first estimated pose; based on each candidate pose and the pose of each second sub-graph, matching the scanning data of the current frame with the second sub-graph to determine the score of each candidate pose in the second sub-graph, and determining a second estimated pose of the current frame corresponding to the second sub-graph; in response to determining that the preset condition is met, determining a third pre-estimated pose in the at least one second pre-estimated pose; and updating the scanning data of the current frame in the first subgraph based on the third pre-estimated pose.

Description

technical field [0001] The present disclosure relates to the field of computer technology and the field of robotics, in particular to positioning and mapping technology, and in particular to a positioning and mapping method, a positioning and mapping device, electronic equipment, a computer-readable storage medium, and a computer program product. Background technique [0002] In the laser SLAM (simultaneous localization and mapping, simultaneous localization and mapping) system, the pose estimation of the current frame depends on the matching result of the current frame and the current sub-image, or the pose estimation of the previous frame. Such an estimation method will generate errors, so further pose accuracy detection and error correction are required. [0003] The approaches described in this section are not necessarily approaches that have been previously conceived or employed. Unless otherwise indicated, it should not be assumed that any approaches described in this...

Claims

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Application Information

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IPC IPC(8): G06T11/20G06T7/70G06T3/00G06K9/62G06V10/75
CPCG06T7/73G06T2207/10028G06T2207/30244G06T7/74
Inventor 万小波董粤强王康孟宪鹏
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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