Robot positioning mapping method and device, readable storage medium and robot
A robot positioning and robot technology, applied in the field of robots, can solve problems such as poor effect, and achieve the effect of good positioning and mapping effect
Pending Publication Date: 2022-07-29
UBKANG (QINGDAO) TECH CO LTD
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[0003] In view of this, the embodiment of the present application provides a robot positioning and mapping method, device, computer-readable storage medium and robot, so as to solve the problem that the existing positioning and mapping method has poor effect in large scenes
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[0072] In order to make the purpose, features, and advantages of the invention of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the following The described embodiments are only some, but not all, embodiments of the present application. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.
[0073] It is to be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described feature, integer, step, operation, element and / or component, but does not exclude one or more other features , whole, step, operation, element, component and / or the pre...
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The invention belongs to the technical field of robots, and particularly relates to a robot positioning mapping method and device, a computer readable storage medium and a robot. The method comprises the following steps: in a positioning mapping process, respectively acquiring laser radar positioning data of a robot and marker positioning data of a preset marker; constructing a positioning data optimization objective function according to the laser radar positioning data and the marker positioning data; solving the positioning data optimization objective function to obtain an optimized positioning result; and performing map construction according to the optimized positioning result. In the application, the laser radar positioning data and the marker positioning data are fused for use, the positioning data optimization objective function is constructed, the accurate optimization positioning result can be obtained through solving, and the accurate map is constructed on the basis of the accurate optimization positioning result. And a better positioning and mapping effect can be achieved even in relatively large use scenes such as airports and the like.
Description
technical field [0001] The present application belongs to the field of robotics, and in particular, relates to a robot positioning and mapping method, device, computer-readable storage medium, and robot. Background technique [0002] In the prior art, robots usually use lidar for positioning and mapping. Lidar positioning and mapping works well in common small scenarios, but in larger usage scenarios such as airports, the effect of positioning and mapping is poor. , the accuracy is obviously low, and it is difficult to meet the actual use requirements. SUMMARY OF THE INVENTION [0003] In view of this, the embodiments of the present application provide a method, device, computer-readable storage medium and robot for positioning and mapping a robot, so as to solve the problem that the existing positioning and mapping methods have poor effects in large scenes. [0004] A first aspect of the embodiments of the present application provides a method for positioning and mapping...
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IPC IPC(8): G01S17/89G01S17/86G01C21/00
CPCG01S17/89G01S17/86G01C21/3841
Inventor 赵勇胜汤煜王涛
Owner UBKANG (QINGDAO) TECH CO LTD