Robot repositioning method and equipment

Abstract

The invention provides a robot repositioning method and equipment, and the method comprises the steps: importing an existing map, extracting the point cloud data of the existing map, carrying out the collection and preprocessing of the data through multiple sensors, obtaining the environment data through a laser radar and other sensors, carrying out the key frame selection, multi-sensor data fusion, filtering, downsampling and other preprocessing, and obtaining the point cloud data of the existing map. And the data quality is improved. Secondly, through scanning matching, the collected point clouds are quickly matched and spliced, and local sub-maps are generated; the point cloud data of the existing map and the point cloud of the current local sub-map are extracted to carry out multiple times of rapid matching scoring, and the robot is guided to carry out exploration in combination with screening and sorting of unexplored areas of the local map, so that autonomous rapid repositioning is completed, the rapid positioning effect is achieved, and a large number of resources are saved. The method effectively improves the repositioning precision and efficiency of the robot in a complex environment, and is suitable for various robot positioning application scenes.

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