1 results about "Signature matrix" patented technology

This invention discloses a lidar loop closure detection method based on hierarchical frequency domain feature extraction. The method includes: a robot collecting point cloud data of the current driving environment using an onboard lidar sensor during its movement, acquiring original lidar point clouds, with each lidar frame corresponding to one original lidar point cloud; dividing the original lidar point cloud into multiple layers according to height, and acquiring the frequency domain signature vectors of the layered sub-point clouds; integrating all frequency domain signature vectors of the lidar frames to obtain a frequency domain signature matrix; determining loop closure constraint factors and correcting the robot pose based on the frequency domain signature matrix corresponding to the current lidar frame acquired by the robot and the frequency domain signature matrices corresponding to the lidar frames to be matched in the historical trajectory; and correcting the robot's motion behavior based on the corrected robot pose. This invention has the advantages of high loop closure detection rate, high detection accuracy, strong detection robustness, and strong real-time performance.