Robot instant positioning and mapping method and device, equipment and storage medium

Abstract

The invention relates to a robot instant positioning and mapping method and device, equipment and a storage medium. The point cloud data of a target environment is acquired based on a laser radar carried by a robot, and the acceleration and angular velocity of an inertial measurement unit (IMU) are acquired based on the IMU carried by the robot; generating an initial point cloud image based on the point cloud data; on the basis of the acceleration and angular velocity of the IMU, the odd-even interpolation algorithm is adopted to remove operation distortion generated by the laser radar in time, and feature points in the point cloud image are screened based on the smoothness of laser points in the point cloud image to carry out related calculation, so that the calculation amount can be effectively reduced while the precision is ensured, the accumulative error caused by the increase of the moving distance is reduced, and the accuracy of the laser radar is improved. The calculation efficiency is improved, and the real-time performance and accuracy of robot positioning and mapping are improved.

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