Method for evaluating robot motion trajectory, robot and storage medium

Abstract

The present application relates to the field of robots, and in particular to a robot motion trajectory evaluation method, a robot and a storage medium. The evaluation method comprises moving the robot in a preset scene; obtaining the pose data of the robot in the moving process through an odometer as the real value of the trajectory of the robot; obtaining the pose data of the robot in the moving process through a robot positioning algorithm as the estimated value of the trajectory of the robot; and comparing and analyzing the real value and the estimated value of the trajectory to evaluate the motion trajectory of the robot. The present application obtains the pose data of the robot in the moving process through the odometer of the robot itself to evaluate the motion trajectory of the robot, does not rely on external equipment for building, does not need to fix the odometer, is not limited to a specific scene, and is fast and convenient for evaluation. Compared with the existing motion capture equipment and monocular camera real value acquisition mode, the cost is lower, and the use scene is more extensive.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a robot motion trajectory evaluation method, a robot and a storage medium. BACKGROUND

[0002] With the development of the robot industry, robots have entered people's lives. As the core algorithm of the robot, the SLAM (Simultaneous Localization And Mapping) algorithm is responsible for the mapping and positioning of the robot, and the SLAM algorithm determines the experience of the robot in actual use, especially the running stability of the robot.

[0003] Generally, a technician needs to test the stability of the robot running in different scenes, and evaluate the motion trajectory of the robot by comparing the estimated value and the true value of the trajectory, such as detecting the motion trajectory jump of the robot, comparing the influence of different algorithms on the motion trajectory of the robot, etc.

[0004] In the related art, the true value of the robot motion trajectory is generally obtained by using a motion capture device, or a fixed downward-looking monocular camera, a fixed ArUco code on the robot, and the position relationship between the camera and the ArUco code is determined by an image recognition method, so as to position the position and orientation of the robot.

[0005] However, the motion capture device and the monocular camera used in the above-mentioned manner have high cost, and these devices need to be fixed, so the use scene is limited. SUMMARY

[0006] The technical problem to be solved by the present application is to provide a robot motion trajectory evaluation method, a robot and a storage medium to solve the technical problem of high cost and limited use scene of the existing robot motion trajectory evaluation method.

[0007] The technical solution adopted by the present application to solve the technical problem is: providing a robot motion trajectory evaluation method, a robot including an odometer for obtaining the pose of the robot, the evaluation method comprising:

[0008] The robot moves in a preset scene;

[0009] The pose data of the robot during movement is obtained by the odometer as the true value of the trajectory of the robot;

[0010] The pose data of the robot during movement is obtained by the robot positioning algorithm as the estimated value of the trajectory of the robot;

[0011] The robot's motion trajectory is evaluated by comparing and analyzing the actual trajectory value and the estimated trajectory value.

[0012] A preferred approach is to evaluate the robot's motion trajectory by comparing and analyzing the actual trajectory value and the estimated trajectory value, specifically including:

[0013] Obtain the odometry trajectory formed by the true trajectory value, and the robot trajectory formed by the trajectory estimate value;

[0014] Perform an interpolation operation on the odometer trajectory;

[0015] The odometry trajectory and the robot trajectory are obtained in the same time period. The odometry trajectory and the robot trajectory are obtained in the first frame pose difference value and the second frame pose difference value. The error between the odometry trajectory and the robot trajectory is obtained based on the first frame pose difference value and the second frame pose difference value.

[0016] The robot's motion trajectory is evaluated based on the error between the odometry trajectory and the robot trajectory.

[0017] A preferred embodiment is that obtaining the error between the odometry trajectory and the robot trajectory based on the first inter-frame pose difference value and the second inter-frame pose difference value specifically includes:

[0018] The difference between the pose difference between the first frame and the pose difference between the second frame is calculated using similarity to obtain the difference in movement posture between the odometry trajectory and the robot trajectory.

[0019] The distance and angle errors between the odometry trajectory and the robot trajectory are obtained through the movement posture difference.

[0020] A preferred approach is to calculate the difference between the pose difference between the first and second frames using similarity calculations to obtain the motion posture difference between the odometry trajectory and the robot trajectory, which is calculated using the following formula:

[0021]

[0022]

[0023] in, The position difference is the value within the movement attitude difference. This refers to the first inter-frame position difference value within the first inter-frame pose difference value. This refers to the second inter-frame position difference value within the second inter-frame pose difference value. The attitude difference is the value in the attitude difference of the movement. This refers to the second inter-frame pose difference value within the second inter-frame pose difference value. This refers to the first inter-frame pose difference value within the first inter-frame pose difference value. The timestamp is the timestamp corresponding to the (i+1)th trajectory point in the robot's trajectory.

[0024] A preferred embodiment is that the interpolation operation on the odometer trajectory specifically includes:

[0025] Obtain the timestamp corresponding to the i-th trajectory point in the robot trajectory. and timestamp and The corresponding true value of the odometer trajectory, wherein, The timestamp corresponding to the j-th trajectory point in the odometer trajectory. The timestamp corresponding to the (j+1)th trajectory point in the odometer trajectory.

[0026] Based on timestamp and The timestamp is calculated from the corresponding actual trajectory value. The corresponding true value of the odometer trajectory.

[0027] The preferred solution is: the timestamp-based solution. and The timestamp is calculated from the corresponding actual trajectory value. The actual value of the corresponding odometer trajectory is calculated using the following formula:

[0028]

[0029]

[0030]

[0031] in, For timestamps The corresponding position coordinates in the true value of the odometer trajectory. For timestamps The corresponding position coordinates in the true value of the odometer trajectory. For timestamps The corresponding position coordinates in the true value of the odometer trajectory. For timestamps The attitude in the true value of the corresponding odometer trajectory. For timestamps The attitude in the true value of the corresponding odometer trajectory. For timestamps The attitude θ in the true value of the corresponding odometer trajectory is and The angle between them, where λ is the interpolation parameter.

[0032] A preferred embodiment is that the evaluation of the robot's motion trajectory based on the error between the odometry trajectory and the robot trajectory specifically includes:

[0033] Obtain the positional error between the odometry trajectory and the robot trajectory;

[0034] The jumping position of the robot's motion trajectory is obtained based on the position error assessment.

[0035] A preferred embodiment is that the evaluation of the robot's motion trajectory based on the error between the odometry trajectory and the robot trajectory specifically includes:

[0036] The positional error between the odometry trajectory and the robot trajectory before and after algorithm optimization is obtained and compared to obtain the comparison results of the robot trajectory accuracy before and after algorithm optimization.

[0037] The technical solution adopted by the present invention to solve its technical problem is: to provide a robot, including a processor and an odometer for acquiring the robot's pose, wherein the processor is coupled to the odometer and executes instructions during operation to cooperate with the odometer in performing the steps of the robot motion estimation evaluation method as described above.

[0038] The technical solution adopted by the present invention to solve its technical problem is: to provide a computer-readable storage medium storing a computer program, wherein when the computer program is executed on a robot, the robot performs the steps of the robot motion estimation evaluation method as described above.

[0039] The beneficial effects of this invention are that, compared with the prior art, this invention uses the robot's own odometry to obtain the robot's pose data during the movement process as the robot's true trajectory value, and compares and analyzes it with the robot's trajectory estimate value obtained by the robot positioning algorithm to evaluate the robot's motion trajectory. It does not rely on external equipment, does not require a fixed odometry, is not limited to specific scenarios, and the evaluation is fast and convenient. Compared with existing motion capture equipment and monocular camera methods for obtaining true values, it has lower costs and a wider range of application scenarios. Attached Figure Description

[0040] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0041] Figure 1This is a flowchart illustrating a method for evaluating robot motion trajectory in one embodiment of the present invention;

[0042] Figure 2 This is a flowchart illustrating the comparison and analysis of the true trajectory value and the estimated trajectory value in one embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram of the process for obtaining the error between the odometer trajectory and the robot trajectory in one embodiment of the present invention;

[0044] Figure 4 It is a time distribution diagram of the relative error between the odometry trajectory and the robot trajectory in an implementation scenario;

[0045] Figure 5 It is a position error curve obtained before and after optimizing a certain algorithm for a robot in an implementation scenario;

[0046] Figure 6 This is a structural block diagram of a robot according to an embodiment of the present invention;

[0047] Figure 7 This is a structural block diagram of a computer-readable storage medium according to an embodiment of the present invention.

[0048] The labels in the attached diagram are as follows:

[0049] 100. Robot; 101. Processor; 102. Odometer;

[0050] 200. Computer-readable storage medium; 201. Computer program. Detailed Implementation

[0051] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0052] like Figure 1 As shown, the present invention provides a preferred embodiment of a method for evaluating robot motion trajectories.

[0053] The robot includes an odometry system for acquiring its pose. The odometry system uses information from the robot's wheels to estimate the robot's displacement and orientation, thereby acquiring its pose. In this embodiment, a wheeled odometry system is specifically used to acquire the robot's pose during movement.

[0054] The method for evaluating robot motion trajectories provided by this invention includes:

[0055] S101. The robot moves within the preset scene;

[0056] S102. Obtain the robot's pose data during movement using an odometer, which serves as the robot's true trajectory value.

[0057] S103. Obtain the robot's pose data through a robot localization algorithm, and use it as the robot's trajectory estimate;

[0058] S104. Compare and analyze the true trajectory value and the estimated trajectory value to evaluate the robot's motion trajectory.

[0059] This invention uses the robot's own odometry to acquire pose data during the robot's movement, which is then used as the robot's true trajectory value. This data is compared and analyzed with the trajectory estimate obtained through the robot's localization algorithm to evaluate the robot's motion trajectory. This method does not rely on external equipment, does not require a fixed odometry, is not limited by specific scenarios, and provides a fast and convenient evaluation. Compared with existing motion capture equipment and monocular camera methods for acquiring true values, this method has lower costs and a wider range of applications.

[0060] In step S101, the preset scenario can be an indoor test scenario or an outdoor test scenario. Users can choose according to their test needs and are not limited to a specific scenario.

[0061] In step S103, the robot pose data can be obtained by using the robot localization algorithm, specifically by using the robot's radar data, odometry data, and map through the SLAM (Simultaneous Localization and Mapping) algorithm.

[0062] Radar is a sensor used to measure the environment around a robot. It detects the position and distance of objects by emitting radio waves and receiving their reflected signals. Radar can provide distance and orientation information of objects around the robot, thus helping the robot to locate and map its surroundings.

[0063] An odometer is a sensor that measures the motion of a robot. It typically uses information about the rotation of its wheels to estimate the robot's displacement and orientation. Odometers provide information about the robot's displacement relative to its starting position, thus helping the robot to locate itself.

[0064] A map is an environmental model that a robot builds while exploring its environment. A map can contain geometric information about the environment, the location of objects, and other relevant information.

[0065] The SLAM algorithm achieves autonomous localization and mapping by fusing radar data and odometry data with a map, and estimates the robot's pose data during movement as a trajectory estimate.

[0066] In steps S102 and S103, during robot movement, the robot's pose data obtained through odometry is recorded to obtain an odometry trajectory sequence, which facilitates finding the true trajectory value at a specific timestamp. The robot's pose data obtained through a robot localization algorithm is also recorded to obtain a robot trajectory sequence, which facilitates finding the estimated trajectory value at a specific timestamp. The recording format can be: timestamp,dx,dy,dz,rx,ry,rz,rw, where timestamp is the timestamp, dx,dy,dz are the position coordinates of the trajectory points, and rx,ry,rz,rw are the quaternions corresponding to the current robot pose.

[0067] refer to Figure 2 Step S104 involves comparing and analyzing the actual trajectory value and the estimated trajectory value to evaluate the robot's motion trajectory, specifically including:

[0068] S201. Obtain the odometry trajectory formed by the true trajectory value and the robot trajectory formed by the trajectory estimate value;

[0069] S202, Perform interpolation on the odometer trajectory;

[0070] S203. Obtain the first frame pose difference value of the odometry trajectory and the second frame pose difference value of the robot trajectory in the same time period, and obtain the error between the odometry trajectory and the robot trajectory based on the first frame pose difference value and the second frame pose difference value.

[0071] S204. Evaluate the robot's motion trajectory based on the error between the odometry trajectory and the robot trajectory.

[0072] By interpolating the odometry trajectory, the odometry trajectory and the robot trajectory can have a more accurate corresponding trajectory point at time. Then, based on the pose difference between the first frame of the odometry trajectory and the pose difference between the second frame of the robot trajectory in the same time period, the error between the odometry trajectory and the robot trajectory can be obtained, which can more accurately evaluate the robot's motion trajectory.

[0073] In this embodiment, the odometry outputs robot pose data at a higher frame rate than the robot localization algorithm, resulting in a denser network of odometry trajectory points compared to robot trajectory points. Interpolation is performed on the odometry trajectory, which yields more accurate odometry point values ​​and more accurate pose differences between the first frame of the odometry trajectory compared to interpolating the robot trajectory. This leads to higher accuracy in subsequent evaluations of the robot's motion trajectory. Furthermore, the cumulative pose error obtained by the odometry within the inter-frame time interval is very small, and even in the event of slippage, the error remains within a controllable range. Using the pose data acquired by the odometry as the true value for motion trajectory evaluation is independent of external devices and specific scenarios, allowing for qualitative evaluation and a degree of quantitative analysis of the robot's trajectory accuracy.

[0074] In step S202, an interpolation operation is performed on the odometer trajectory, specifically including:

[0075] Obtain the timestamp corresponding to the i-th trajectory point in the robot trajectory. and timestamp and The actual value of the corresponding odometer trajectory, where, Let be the timestamp corresponding to the j-th trajectory point in the odometer trajectory. This is the timestamp corresponding to the (j+1)th trajectory point in the odometry trajectory.

[0076] Based on timestamp and The corresponding actual trajectory value is used to calculate the timestamp. The actual value of the corresponding odometer trajectory.

[0077] Using two adjacent timestamps in the odometer track and Calculate and obtain the corresponding robot trajectory timestamp between the two timestamps. The true value of the trajectory is obtained, and the difference operation of the odometry trajectory is realized, which makes it easier to obtain the inter-frame pose difference between the odometry trajectory and the robot trajectory in the same time period more accurately.

[0078] Among them, two adjacent timestamps in the odometer track and The true value of the trajectory can be obtained by searching the odometer trajectory sequence recorded above.

[0079] Among them, based on timestamp and The corresponding actual trajectory value is used to calculate the timestamp. The actual value of the corresponding odometer trajectory can be calculated using the following formula:

[0080]

[0081]

[0082]

[0083] In formula (1), For timestamps The position coordinates in the actual value of the corresponding odometer trajectory. For timestamps The position coordinates in the true value of the corresponding odometer trajectory, where λ is the interpolation parameter. As can be seen from formulas (1) and (3), the LERP (linear interpolation) algorithm is used to interpolate the position coordinates of the odometer trajectory, making the interpolated odometer trajectory smoother, and the algorithm is simple and easy to implement.

[0084] In formula (2), For timestamps The position coordinates in the actual value of the corresponding odometer trajectory. For timestamps The attitude in the actual value of the corresponding odometry trajectory. For timestamps The attitude in the actual value of the corresponding odometry trajectory. For timestamps The attitude in the true value of the corresponding odometry trajectory, θ is and The angle between them. From formulas (1) and (2), it can be seen that for the attitude of the odometry trajectory, the SLERP (Spherical linear interpolation) algorithm is used for interpolation, which can be performed at the timestamp. and Interpolation is performed between corresponding poses to maintain rotational continuity and ensure a smooth transition of rotation during the interpolation process.

[0085] In step S203, the first inter-frame pose difference value of the odometry trajectory in the same time period is obtained. The corresponding first inter-frame position difference value and first inter-frame attitude difference value can be obtained respectively, which can be calculated by the following formula:

[0086]

[0087]

[0088] In formula (4), For timestamps The corresponding position coordinates of the odometer trajectory, For timestamps The corresponding position coordinates of the odometer trajectory. The timestamp corresponding to the odometer trajectory can be obtained using formula (4). and The inter-frame position difference.

[0089] In formula (5), For timestamps The attitude of the corresponding odometry trajectory, For timestamps The attitude of the corresponding odometer trajectory. The timestamp corresponding to the odometer trajectory can be obtained using formula (5). and The inter-frame pose difference.

[0090] By obtaining the pose difference between the second and second frames of the robot trajectory within the same time period, the corresponding position difference and pose difference between the second and second frames can be obtained. Specifically, these can be calculated using the following formula:

[0091]

[0092]

[0093] In formula (6), For timestamps The corresponding position coordinates of the robot trajectory, For timestamps The corresponding position coordinates of the robot trajectory. The timestamp corresponding to the robot trajectory can be obtained using formula (6). and The inter-frame position difference.

[0094] In formula (7), For timestamps The pose of the corresponding robot trajectory, For timestamps The pose of the corresponding robot trajectory. The timestamp corresponding to the robot trajectory can be obtained using formula (7). and The inter-frame pose difference.

[0095] In this embodiment, reference Figure 3 In step S203, the error between the odometry trajectory and the robot trajectory is obtained based on the pose difference value between the first frame and the pose difference value between the second frame, specifically including:

[0096] S301. Calculate the difference between the pose difference between the first frame and the pose difference between the second frame using similarity to obtain the difference in movement posture between the odometry trajectory and the robot trajectory.

[0097] S302. Obtain the distance error and angle error between the odometry trajectory and the robot trajectory by measuring the movement posture difference.

[0098] Similarity calculation can speed up the operation, obtain the difference in movement posture between the odometry trajectory and the robot trajectory, and obtain the distance error and angle error between the two trajectories.

[0099] In step S301, the difference between the pose difference between the first frame and the pose difference between the second frame is calculated using similarity to obtain the difference in movement posture between the odometry trajectory and the robot trajectory. This difference can be calculated using the following formula:

[0100]

[0101]

[0102] in, This represents the position difference within the difference in motion posture between the odometry trajectory and the robot trajectory. This refers to the position difference between the first two frames within the first frame pose difference value. This refers to the inter-frame position difference within the inter-frame pose difference value. This represents the attitude difference in the motion attitude difference between the odometry trajectory and the robot trajectory. This refers to the pose difference between the second and third frames in the pose difference value between the second and third frames. This refers to the first inter-frame pose difference value within the first inter-frame pose difference value. This is the timestamp corresponding to the (i+1)th trajectory point in the robot's trajectory.

[0103] In step S302, after obtaining the movement posture difference between the odometer trajectory and the robot trajectory, the position difference in the movement posture difference can be converted to obtain the distance between the odometer trajectory and the robot trajectory. The distance is then compared with a preset distance evaluation index to obtain the distance error between the odometer trajectory and the robot trajectory. The posture difference in the movement posture difference is converted to obtain the rotation angle between the odometer trajectory and the robot trajectory. The rotation angle is then compared with a preset angle evaluation index to obtain the angle error between the odometer trajectory and the robot trajectory.

[0104] In this embodiment, step S204 involves evaluating the robot's motion trajectory based on the error between the odometry trajectory and the robot trajectory, specifically including:

[0105] Obtain the positional error between the odometry trajectory and the robot trajectory;

[0106] The jumping position of the robot's motion trajectory is obtained based on the position error assessment.

[0107] By comparing the positional error between the odometry trajectory and the robot trajectory, we can compare the deviation between the actual trajectory value and the estimated trajectory value during the robot's movement. When the deviation is large, it can be determined that the robot has experienced a positional jump at the corresponding position, which can be used as an evaluation basis for further analysis of the position where the deviation occurred.

[0108] In a specific evaluation embodiment, the positional error between the odometer trajectory and the robot trajectory is obtained. A relative error time distribution graph is established with time as the x-axis and the positional error between the odometer trajectory and the robot trajectory within 0.1 seconds as the y-axis, as shown below. Figure 4 As shown, from Figure 4 As can be seen, when the positional error increases significantly, it can be considered that a positional shift has occurred at this point, which can be used as an evaluation basis for further analysis of the position where the deviation occurred.

[0109] In addition, in some implementation scenarios, such as in the early stages of product development, engineers may optimize the robot's algorithm and compare the robot's trajectory before and after the algorithm optimization. There is no need to have high requirements for trajectory accuracy evaluation. The error between the odometry trajectory obtained by this application and the robot trajectory can also be used to compare the trajectory accuracy of the robot before and after the algorithm optimization, which is low-cost.

[0110] Specifically, in one embodiment, step S204 involves evaluating the robot's motion trajectory based on the error between the odometry trajectory and the robot trajectory, specifically including:

[0111] The positional error between the odometry trajectory and the robot trajectory before and after algorithm optimization is obtained and compared to obtain the comparison results of the robot trajectory accuracy before and after algorithm optimization.

[0112] The advantages and disadvantages of the two algorithms are evaluated by obtaining the positional error between the odometry trajectory and the robot trajectory before and after the algorithm optimization.

[0113] Specifically, to obtain the positional error between the odometry trajectory and the robot trajectory before and after algorithm optimization, the positional error before and after algorithm optimization can be analyzed separately. An error histogram can be constructed with the positional error value on the x-axis and the proportion of trajectory points with a positional error less than that value on the y-axis, yielding the positional error curves before and after algorithm optimization. (Refer to...) Figure 5 , Figure 5 To obtain the position error curves of a robot before and after optimizing a certain algorithm, from... Figure 5 It can be seen that the proportion of trajectory points with low positional errors in the algorithm corresponding to curve origin is higher than that of curve un, that is, the evaluation result is that the algorithm corresponding to curve un is better than the algorithm corresponding to curve origin.

[0114] The robot motion trajectory evaluation method of the present invention performs well in qualitative analysis of robot accuracy, such as algorithm verification, stability verification, and position jump detection. It can be used for early defect analysis of products and can also be used for quantitative analysis to a certain extent. Compared with existing motion capture equipment or monocular cameras to obtain trajectory true values, it has lower cost and wider application scenarios.

[0115] refer to Figure 6 The present invention also provides a robot 100.

[0116] In this embodiment, the robot 100 provided by the present invention includes a processor 101 and an odometer 102 for acquiring the pose of the robot 100. The processor 101 is coupled to the odometer 102 and executes instructions during operation to cooperate with the odometer 102 in performing the steps of the above-described robot 100 motion estimation evaluation method. Detailed steps can be found above and will not be repeated here.

[0117] refer to Figure 7 The present invention also provides a computer-readable storage medium 200.

[0118] In this embodiment, the computer-readable storage medium 200 provided by the present invention stores a computer program 201. When the computer program 201 is executed on the robot 100, it enables the robot 100 to implement the steps of the above-described method for evaluating the motion trajectory of the robot 100. Detailed steps can be found above and will not be repeated here. In one embodiment, the computer-readable storage medium 200 may be a storage chip in a terminal, a hard disk, a portable hard disk, a USB flash drive, an optical disc, or other readable and writable storage tools, or it may be a server, etc.

[0119] The above description is merely the preferred embodiment of the present invention and is not intended to limit the scope of the present invention. All equivalent changes or modifications made in accordance with the claims of the present invention are covered by the present invention.

Claims

1. A method of evaluating a robot motion trajectory, characterized by, The robot comprises a odometer for acquiring a pose of the robot, and the evaluation method comprises: The robot moves in a preset scene; Acquire the pose data of the robot during movement by the odometer as the trajectory true value of the robot; Acquire the pose data of the robot during movement by a robot positioning algorithm as the trajectory estimated value of the robot; Compare and analyze the trajectory true value and the trajectory estimated value to evaluate the motion trajectory of the robot; The comparison and analysis of the trajectory true value and the trajectory estimated value to evaluate the motion trajectory of the robot specifically comprises: Acquire the odometer trajectory formed by the trajectory true value and the robot trajectory formed by the trajectory estimated value; Interpolate the odometer trajectory; Acquire the first inter-frame pose difference value of the odometer trajectory and the second inter-frame pose difference value of the robot trajectory in the same time period, and acquire the error between the odometer trajectory and the robot trajectory according to the first inter-frame pose difference value and the second inter-frame pose difference value; Evaluate the motion trajectory of the robot based on the error between the odometer trajectory and the robot trajectory.

2. The evaluation method according to claim 1, characterized in that The acquisition of the error between the odometer trajectory and the robot trajectory according to the first inter-frame pose difference value and the second inter-frame pose difference value specifically comprises: Calculate the difference between the first inter-frame pose difference value and the second inter-frame pose difference value by similarity to obtain the movement posture difference value of the odometer trajectory and the robot trajectory; Acquire the distance error and the angle error of the odometer trajectory and the robot trajectory by the movement posture difference value.

3. The evaluation method according to claim 2, characterized in that The calculation of the movement posture difference value of the odometer trajectory and the robot trajectory by similarity to the first inter-frame pose difference value and the second inter-frame pose difference value is calculated by the following formula: ； ； in, The position difference is the value within the movement attitude difference. This refers to the first inter-frame position difference value within the first inter-frame pose difference value. This refers to the second inter-frame position difference value within the second inter-frame pose difference value. The attitude difference is the value in the attitude difference of the movement. This refers to the second inter-frame pose difference value within the second inter-frame pose difference value. This refers to the first inter-frame pose difference value within the first inter-frame pose difference value. For the robot trajectory, the first The timestamps corresponding to each trajectory point.

4. The assessment method according to any one of claims 1 to 3, characterized in that, The interpolation of the odometer trajectory specifically comprises: acquiring a timestamp corresponding to a trajectory point in the robot trajectory and a trajectory ground truth value of the odometry trajectory corresponding to the timestamp and the timestamp and , wherein is a timestamp corresponding to a trajectory point in the odometry trajectory, is a timestamp corresponding to a trajectory point in the odometry trajectory, is a timestamp corresponding to a trajectory point in the odometry trajectory, is a timestamp corresponding to a trajectory point in the odometry trajectory, ; Based on the timestamp And The trajectory true value corresponding to the trajectory true value calculated by the timestamp The trajectory true value corresponding to the odometer trajectory 5. The evaluation method according to claim 4, characterized in that The timestamp-based And The corresponding trajectory ground truth, calculated from the timestamp The trajectory ground truth of the corresponding odometry trajectory, calculated from the following formula: ； ； ； wherein is a timestamp a position coordinate in a ground truth of the corresponding odometry trajectory, is a timestamp a position coordinate in a ground truth of the corresponding odometry trajectory, is a timestamp a position coordinate in a ground truth of the corresponding odometry trajectory, is a timestamp an attitude in a ground truth of the corresponding odometry trajectory, is a timestamp an attitude in a ground truth of the corresponding odometry trajectory, is a timestamp an attitude in a ground truth of the corresponding odometry trajectory, is an angle between an angle between is an interpolation parameter.

6. The assessment method according to any one of claims 1 to 3, characterized in that, The evaluation of the motion trajectory of the robot based on the error between the odometer trajectory and the robot trajectory specifically comprises: Acquire the position error between the odometer trajectory and the robot trajectory; Acquire the jumping position of the robot motion trajectory according to the position error evaluation.

7. The assessment method according to any one of claims 1 to 3, characterized in that, The evaluation of the motion trajectory of the robot based on the error between the odometer trajectory and the robot trajectory specifically comprises: Acquire and compare the position error between the odometer trajectory and the robot trajectory before and after the algorithm optimization to obtain the comparison result of the robot trajectory accuracy before and after the algorithm optimization.

8. A robot, characterized in that The processor is coupled to the odometer and executes instructions in work to cooperate with the odometer to perform the steps of the evaluation method of the robot motion estimation according to any one of claims 1 to 7.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program makes the robot realize the steps of the evaluation method of the robot motion estimation according to any one of claims 1 to 7 when executed on the robot.

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