Feature map updating method and device of mobile robot and medium

Abstract

The embodiment of the invention discloses a feature map updating method and device for a mobile robot and a medium, and the method comprises the steps: obtaining the point cloud data of the mobile robot at the current moment, and generating a current feature point set according to a plurality of feature points in the point cloud data; performing nearest neighbor matching on a plurality of feature points in the current feature point set and feature points in a preset initialized feature map; dividing a plurality of feature points in the current feature point set into a first type of feature points and a second type of feature points according to a matching result of nearest neighbor matching, and updating positions of corresponding feature points matched with the first type of feature points in a preset initialized feature map according to pre-acquired position information of the first type of feature points, generating a first feature map; and adding each feature point in the second type of feature points to the first feature map according to pre-acquired position information of the second type of feature points, and generating an updated feature map.

Description

technical field [0001] The present specification relates to the field of robotics, and in particular, to a method, device and medium for updating a feature map of a mobile robot. Background technique [0002] With the rapid development of science and technology, the application fields of mobile robots are gradually expanding, and the working environment they face is becoming more and more complex. The realization of autonomous navigation of robots is an important step to deal with the problems caused by various complex working environments. Mobile robot map Construction is a key technology in mobile robot technology, and the construction of feature maps is directly related to the accuracy and stability of mobile robots in the subsequent positioning process. [0003] In indoor mobile robot application scenarios, single-line LiDAR is often used to scan surrounding environmental features such as arcs, line segments, corners, etc., and record them, and save them in the feature m...

AI Technical Summary

Problems solved by technology

[0004] One or more embodiments of this specification provide a method, device, and medium for updating a feature map of a mobile robot, which are used to solve the following technical problem: due to redundant features in the scanned features, the quality of the updated feature map is poor The problem affects the stability of the subsequent positioning process

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