Robot, mapping method and device thereof and storage medium

Abstract

The invention belongs to the field of robots, and provides a robot, a mapping method and device thereof and a storage medium. The method comprises the following steps: acquiring a key frame, and determining a robot pose corresponding to the key frame; determining the pose of the positioning identifier according to the image of the positioning identifier in the key frame in combination with the robot pose corresponding to the key frame; taking the robot poses corresponding to the key frames and the poses of the positioning identifiers as nodes, and taking the relative pose relationship between the key frames and the relative pose relationship between the positioning identifiers and the robot poses corresponding to the key frames as edges to generate a pose graph comprising a loop; and optimizing the robot pose corresponding to the key frame and the pose of the positioning identifier according to a graph optimization method. Therefore, the robot pose corresponding to the key frame and the precision of the pose of the positioning identifier can be effectively improved, the robot can be more reliably positioned and navigated, and the frequency of map reconstruction is reduced.

Description

technical field [0001] The present application belongs to the field of robots, and particularly relates to robots and their mapping methods, devices, and storage media. Background technique [0002] Robots usually pre-build a map of the scene before navigating. For example, current mobile service robots use two-dimensional laser SLAM (English full name for simultaneous localization and mapping, Chinese full name for simultaneous localization and mapping) to build scene maps. In the process of robot navigation, the laser sensor of the robot will perceive the environmental information around the robot, and locate it according to the environmental information and the constructed map, so that the robot can determine its position on the map. [0003] When possible, the actual usage scenarios often change after the map building process is complete. Especially in some complex scenes, including offices, shopping malls, factories, etc., these scenes often have sundries or objects m...

AI Technical Summary

Problems solved by technology

[0004] In view of this, the embodiment of the present application provides a robot and its mapping method, device, and storage medium to solve the problem that the environmental information may not match the information on the map in the prior art, or the matching accuracy Insufficient, resulting in the problem that the robot cannot reliably complete the positioning and navigation, or needs to construct maps frequently

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