一种融合反光板信息和一般轮廓信息的全局定位方法
By using a global positioning method that integrates reflector information and general contour information, and by constructing a multi-scale map atlas and performing branch boundary search using LiDAR and reflectors, the problem of insufficient accuracy and robustness of LiDAR global positioning in large-scale and dynamic environments is solved, and a fast and reliable positioning effect is achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SOUTH CHINA SEA FISHERIES RES INST CHINESE ACAD OF FISHERY SCI
- Filing Date
- 2022-12-28
- Publication Date
- 2026-07-17
AI Technical Summary
Existing positioning technologies suffer from low accuracy and poor robustness in large-scale and dynamic environments. In particular, global positioning methods based on lidar are difficult to achieve fast and reliable positioning without prior pose information.
A global localization method that integrates reflector information and general contour information is adopted. By constructing a general obstacle grid map and a reflector grid map, a multi-scale composite map set is generated. Then, a branch and bound search algorithm is used, combined with two-dimensional LiDAR and reflectors placed in the environment, to achieve accurate localization of the robot or target object.
It improves the speed and reliability of positioning, making it tens of times faster than using lidar positioning alone. It also reduces the impact of dynamic obstacles and enhances positioning accuracy and robustness in dynamic environments.
Smart Images
Figure CN116125433B_ABST