204 results about "Surface element" patented technology

The invention discloses a road slope modeling method based on an unmanned aerial vehicle inspection route, and relates to the technical field of unmanned aerial vehicle inspection. The method comprises the following steps: measuring the road slope length, the landform and the geological complexity, and selecting an adaptive unmanned aerial vehicle type and sensor combination according to the road slope length, the landform and the geological complexity; planning unmanned aerial vehicle surface inspection and shallow geological exploration routes, ensuring space matching, and synchronously obtaining high-resolution images and ground penetrating radar data; and processing image data through a photogrammetry technology, generating a digital elevation model and an orthophoto map, and combining to construct a three-dimensional model of the earth surface. Geophysical inversion is carried out on the ground penetrating radar data, reflection features are extracted and projected to the ground surface three-dimensional model, and space correlation between the ground surface and a shallow layer structure is established; the reflection features are digitalized and geometrically reconstructed into three-dimensional surface elements, the three-dimensional surface elements are embedded into an earth surface model to form a three-dimensional geologic body model, time dimensions are introduced, and a dynamic evolution model is constructed. According to the dynamic evolution model, the dynamic analysis of the slope stability is realized.

The invention provides a as-built drawing multi-element extraction and vectorization method and device, equipment and a storage medium. Relates to the technical field of as-built drawing processing. The method comprises the following steps: segmenting a as-built drawing to obtain binary mask images of a field parcel, a road, a water channel, a building and a wellhead; performing opening and closing operation, morphological smoothing, noise removal and / or hole filling operation on each binary mask image to generate an optimized single-category mask; dividing the optimized single-category masks into three categories of planar elements, linear elements and point-shaped elements according to geometric types of the elements, and respectively adopting a vectorization strategy to generate vector files; and writing the geographic coordinate system and the projection parameters of the as-built drawing into the corresponding vector file to generate an independent layer file with geographic coordinate reference. According to the method, the as-built drawing element extraction precision, the complex element processing capability and the vectorization quality and efficiency are remarkably improved, and the robustness of the model in a complex scene is enhanced.

The invention discloses a non-uniform hexahedral mesh generation method based on a region density distribution rule, and relates to the technical field of software development technologies, and the method comprises the following steps: S1, for a solving target, carrying out mesh generation by adopting triangular surface elements, and dividing regions according to different region densities to obtain the maximum and minimum mesh sizes corresponding to each region; s2, after the step S1 is executed, grid lines are sequentially generated in the Cartesian coordinate system according to the x dimension, the y dimension and the z dimension, optimization is started from the area with the minimum maximum grid size, and the maximum grid size is obtained; the method has the advantages that the conversion from a triangular surface element grid to a non-uniform hexahedral grid is realized through modules for identifying and calculating the density distribution of a triangular surface element region, generating three-dimensional grid lines of a Cartesian coordinate system, reconstructing a ray intersecting hexahedral grid, outputting the grid and the like; the problems of mesh generation and geometric target modeling of a finite difference time domain (FDTD) method are solved.

According to the automatic finishing configuration method for the geographic information annotation of the thematic map, an annotation method for establishing point, line and surface elements in the thematic map as well as image name, legend and thematic icon finishing elements is established, so that the drawing efficiency of the thematic map is improved, the annotation drawing work of the thematic map is enabled to be one-key, and the automation of drawing the thematic map by CorelDRAW is realized; the method comprises the following steps: establishing an annotation configuration rule of each element, configuring each annotation on a graph according to the corresponding rule, judging whether the annotations conflict or not by establishing a model algorithm and shifting, and automatically configuring the annotations of the line elements by utilizing a method of equidistantly segmenting the line elements. And realizing direct layer simplification of the line element cdr file. According to the method, a graph name annotation configuration scheme, a legend configuration scheme and a statistical graph annotation configuration scheme are established, automatic configuration of graph names, legends and statistical element annotations is achieved in CorelDRAW through rules, the drawing efficiency is improved, and beautification and expression of thematic maps are achieved.

The invention provides an underwater multi-mode intelligent sensing method for a marine ranch, and the method comprises the following steps: introducing a sonar sensing mode based on a YOLO underwater multi-mode detection module, and constructing a dynamic self-adaptive multi-mode sensing system; semantic SLAM and dense coarse mapping are carried out; the semantic SLAM and dense coarse mapping process comprises the steps of preprocessing, initialization and joint optimization of visual-inertial data, dense mapping based on surface elements and semantic fusion mapping; physically-driven 3D GS fine reconstruction is carried out, wherein the 3D GS fine reconstruction comprises initial 3D GS modeling and underwater medium estimation and compensation; and outputting the multi-scale semantic map. According to the invention, the physical imaging model is embedded into the 3DGS rendering process, and the attenuation coefficient and the scattering parameter are estimated through iteration, so that the color fidelity of the reconstructed scene is improved. And compared with the traditional method, the reconstruction loss of the compensated image and the original image is obviously reduced.

The invention discloses a target segmentation vector boundary simplification method, electronic equipment and a storage medium, and relates to the technical field of remote sensing. The method comprises the following steps: acquiring a remote sensing image, and performing target segmentation on the remote sensing image to obtain raster data; converting the raster data into vector data; combining adjacent surface element vectors with common boundaries to obtain a plurality of combined surface elements; extracting an intersection point of each common boundary and the boundary of the corresponding combined surface element as an anchor point; according to the anchor points, performing segmentation simplification on the boundary and the common boundary of each combined surface element to obtain a plurality of simplified broken lines of which the head ends and the tail ends are connected; and performing line cutting on the multiple simplified broken lines to obtain a boundary simplification result. According to the target segmentation vector boundary simplification method provided by the embodiment of the invention, the condition that a plurality of broken lines in an intersection relationship exist in a vector result of target segmentation is solved, and the problems that topological errors such as overlapping and gaps occur and the topological consistency is changed are avoided.

The arrangement comprises a projection system (22) for microlithography and a wall element (28) for thermally shielding the projection system (22) from an illumination system (10). The projection system (22) has an object field that can be illuminated by the illumination system (10) and optical elements (M1-M6) for imaging the object field onto an image plane (21). The wall element (28) also includes a passive shielding surface element (30) arranged in a transition region between a last beam section (41) of the illumination system (10) and a first beam section (42) of the projection system (22). According to the invention, the arrangement further comprises an active cooling element (31) positioned in the transition region, with a cooling surface (32) that extends at least partially along a surface area of ​​the passive shielding surface element (30).The active cooling element positioned in the transition area can significantly reduce the rate of change of the heat flow from the lighting system to the projection system.

The invention relates to the technical field of industrial parameter design, in particular to an industrial design system and method. The method comprises the following steps: obtaining a to-be-laid industrial structural member; performing to-be-laid layer curved surface model reconstruction on the to-be-laid layer industrial structural member, and performing surface element discretization processing to generate to-be-laid layer discrete geometric surface element data; according to the discrete geometric surface metadata of the to-be-laid layer, carrying out laying layer direction field identification, and generating laying layer direction field data; according to the layering direction field data, carrying out layering process analogue simulation, solving stress, strain and displacement distribution on each surface element, and obtaining surface element mechanical state data; performing process defect analysis according to the surface element mechanical state data to obtain layering process defect data; and performing intelligent layering process parameter combination based on the layering process defect data so as to realize industrial structural member shell layering design. According to the invention, the intelligent design of the layering process of the complex curved surface industrial structural member is realized.

The invention relates to a two-dimensional and three-dimensional boundary point association method based on improved boundary point coding and a medium, and the method comprises the steps: carrying out the preprocessing of original land parcel red line data, sequentially numbering land parcels, converting all the land parcels into plane boundary point elements, determining a first boundary point in each plane boundary point element, processing each land parcel into a clockwise land parcel, and carrying out the coding of the clockwise land parcels. Performing two-dimensional boundary point continuous numbering on all vertexes of the land parcel, taking the land parcel after encoding the two-dimensional boundary points as a two-dimensional surface element, and converting the land parcel into a land parcel three-dimensional stereoscopic model comprising three-dimensional boundary points, boundary lines and boundary surfaces; and continuously numbering all the three-dimensional boundary points in sequence by using a cross section analysis method to obtain a land block after coding the three-dimensional boundary points, and establishing an association relationship between the three-dimensional boundary points with successfully matched coordinates and the corresponding two-dimensional boundary points. Therefore, automatic coding of the three-dimensional boundary points of the land parcel red line data and automatic association between the two-dimensional boundary points and the three-dimensional boundary points are realized, and the three-dimensional boundary point management efficiency in land parcel management is improved.

A 3D dense surface element mapping method based on SLAM and its system and electronic device. The 3D dense surface element mapping method based on SLAM includes the following steps: pre-processing the incoming image frame data and posture data to obtain synchronized image frame posture information and corresponding image information, wherein the image information includes aligned grayscale images and depth images; performing superpixel segmentation, surface element extraction and fusion processing on the image information in combination with the image frame posture information in the same thread to obtain an updated surface element map; and performing structured mesh processing on the updated surface element map to output the triangular mesh data of the dense map in real time.

The invention relates to a multi-target structured scene electromagnetic calculation method based on a bounce ray algorithm, and the method comprises the steps: generating a corresponding ray tube based on a surface element for a structured complex scene; ray tube tracking is accelerated by adopting a BVH method; and completing ray tube electromagnetic calculation by adopting a GPU parallel calculation mode to obtain an electromagnetic scattering characteristic result corresponding to the structured complex scene. Compared with the prior art, aiming at single-target and multi-target structured scenes, a bounce ray (SBR) method is developed, a ray tube is constructed through a triangular patch, ray tracing is carried out based on forward and backward rays, a hierarchical bounding volume acceleration tree structure is adopted in the ray tracing process to improve the calculation efficiency of the SBR method, GPU acceleration calculation is adopted in the scattered field calculation process, and the calculation efficiency of the SBR method is improved. The bottleneck that a traditional moment method is low in calculation efficiency when processing a large scene and a physical optical method is limited in calculation precision can be broken through, and the calculation efficiency and the calculation precision are effectively improved.

The invention discloses a high-fidelity dynamic sea-sky scene infrared three-dimensional imaging modeling simulation method and device, and relates to the technical field of computer simulation, and the method comprises the steps: obtaining the scene information of a sea-sky scene three-dimensional model in each frame according to a preset time interval; converting the current sea spectrum into an ocean grid height field so as to determine the position and the property of the ocean water body micro surface element; establishing a full-link sea-sky scene infrared radiation link transmission model according to the position and the property of the ocean water body micro surface element; the full-link sea-sky scene infrared radiation link transmission model is used for describing the transmission process that radiation energy starts from a target or background radiation source and reaches a detector after being attenuated by the environment; after a script file is generated according to the full-link sea-sky scene infrared radiation link transmission model, the scene information and the script file are imported into a rendering engine, and rendering is completed. According to the invention, the reflection condition of the real ocean to the sun can be better simulated, and the authenticity is improved when the dynamic change scene of the sea surface is simulated.

The invention provides an automatic marking method for a target GCP. The automatic marking method comprises the following steps: establishing a rough mesh model based on an aerial photo set of a specified area; determining a marking point of the target GCP on a reference picture; projecting the marking point to the surface of the rough mesh model and intercepting a first projection surface element; searching and determining the optimal position and the optimal orientation of the first projection surface element based on the correlation of images in a re-projection window obtained by re-projecting the first projection surface element to the plurality of evaluation pictures; and projecting an image in a reference window on the reference picture to the first projection surface element with the optimal position and the optimal orientation to obtain a second projection surface element, and searching and determining a corresponding imaging position of the target GCP on the to-be-marked picture based on an expected image obtained by re-projecting the second projection surface element to the to-be-marked picture. According to the method provided by the invention, the credibility and accuracy of automatically marking the target GCP on the to-be-marked picture are effectively improved.

The invention relates to the field of surface shape detection, in particular to a low-intermediate frequency error synchronous detection method based on sub-aperture splicing and CGH compensation, and the method comprises the steps: designing a full-aperture CGH compensator, carrying out the full-aperture detection of a to-be-detected surface of an aspheric cylindrical surface element according to the full-aperture CGH compensator, and obtaining a full-aperture detection result; sub-aperture planning is carried out according to the surface shape of the to-be-detected surface of the aspheric cylindrical surface element, a sub-aperture CGH compensator corresponding to each sub-aperture is designed, sub-aperture splicing detection is carried out on the to-be-detected surface of the aspheric cylindrical surface element according to each sub-aperture CGH compensator, and a splicing detection result is obtained; wherein phase smoothing processing is carried out on an overlapping region between two adjacent sub-apertures by adopting a layered smoothing optimization algorithm; and calibrating the position of each sub-aperture and correcting the displacement error of each sub-aperture by using low-frequency information in a full-aperture detection result. According to the invention, synchronous high-precision synchronous detection of low-intermediate frequency errors of the aspheric cylindrical surface element can be realized.

The application provides a curved surface optical element surface defect scattering detection method and system, which comprises the following steps: setting a pre-focusing incident light beam in a detection light path, so that the incident light beam forms a virtual object point behind the curved surface optical element; adjusting the distance from the virtual object point to the vertex of the curved surface to satisfy a conjugate relationship with the distance from the detector to the vertex of the curved surface; discretizing the illuminated local curved surface region into an array of micro surface elements; calculating the projection of the unit vector of the scattered light and the unit vector of the incident light on the local tangent plane of each micro surface element to establish a local spatial frequency mapping relationship; performing surface-detector geometric modeling, micro surface BRDF calculation, radiation transmission and irradiance calculation of the scattered light field, constructing a curved surface scattering physical model and reconstructing the irradiance distribution on the detector target surface; performing total integral scattering processing on the irradiance distribution to identify defects, extracting the power spectral density of the defect region to obtain five frequency domain characteristic values, and inputting the five frequency domain characteristic values into a machine learning classifier for defect classification.

The invention provides an acoustic scattering echo characteristic analysis and synthesis method for an underwater target substructure, and the method comprises the steps: S1, dividing an underwater model into substructures according to a preset rule, and forming substructure grid data in a surface element and point element format; s2, according to the grid data and the sound source orientation, calculating the target strength of an unshielded substructure through a plate element method; s3, calculating the shielded angle range of the substructure according to the grid data and the sound source orientation; s4, according to the shielded angle range of the substructure, the synthetic target strength of the substructure is calculated; and S5, target strength corresponding to the substructures is selected through a preset rule, the target strength is synthesized, and the overall target strength is formed. According to the method, a calculation method of the target strength of each substructure of a rigid target during synthesis is discussed through a synthesis theory and a plate element theory of the target strength, so that the contribution degree of each substructure of the target to the target strength of the whole structure is revealed.

The invention belongs to the technical field of OVT domain pre-stack time migration imaging, and particularly relates to an OVT piece division method for a subdivision surface element observation system. The method comprises the following steps: firstly, calculating the non-longitudinal and longitudinal coverage times of an OVT sheet divided according to a conventional observation system, obtaining the non-longitudinal and longitudinal coverage times of the OVT sheet divided according to a subdivision surface element observation system by combining the non-longitudinal and longitudinal surface element sizes and the non-longitudinal and longitudinal surface element sizes of the subdivision surface element observation system, and then calculating the non-longitudinal and longitudinal coverage times of the OVT sheet divided according to the subdivision surface element observation system by combining the non-longitudinal and longitudinal maximum offset. And obtaining non-longitudinal and longitudinal division scales of the OVT sheet divided according to the subdivision surface element observation system, and dividing the OVT sheet by using the non-longitudinal and longitudinal division scales so as to carry out subsequent regularization and offset processing work. The method can effectively solve the problem that traditional OVT piece division is not suitable for the subdivision surface element observation system, and a feasible method is provided for processing the OVT domain of the subdivision surface element observation system.

The invention relates to an arrangement comprising a projection system (22) for microlithography and a wall element (28) for thermally shielding the projection system (22) with respect to a lighting system (10). The projection system (22) has an object field which can be illuminated by the lighting system (10) and optical elements (M1-M6) for imaging the object field into an image plane (21). The wall element (28) additionally comprises a passive shielding surface element (30) which is arranged in a transition region between a last beam portion (41) of the lighting system (10) and a first beam portion (42) of the projection system (22). According to the invention, the arrangement also has an active cooling element (31) which is positioned in the transition region and has a cooling surface (32) which extends at least partially along a surface area of the passive shielding surface element (30). With the aid of the active cooling element positioned in the transition region, a rate of change of the heat flow from the lighting system into the projection system can be significantly reduced.

The invention belongs to the technical field of electromagnetic field calculation, and discloses a method and a system for calculating an electromagnetic scattering field of a moving target coated with a lossy dispersive medium. The method comprises the following steps: firstly, carrying out three-dimensional modeling on a target surface by adopting triangular surface elements to form a model file, and importing the model file into a main program to obtain geometric feature data of a target; secondly, carrying out relativistic coordinate transformation on the space-time component by utilizing Lorentz transformation, and mapping a dynamic problem to an inertial coordinate system synchronous with a target; then establishing an equivalent reflectivity model for the lossy dispersive medium coated area by adopting a transmission matrix method; then efficiently solving a transient scattering field in the motion coordinate system by adopting a time domain physical optical method; and finally, reconstructing a calculation result to a laboratory coordinate system through inverse Lorentz transformation, and outputting electromagnetic field distribution in a dynamic scene. Through the method provided by the invention, the electromagnetic scattering field of the moving target coated with the lossy dispersive medium can be quickly calculated.

The invention relates to the technical field of geotechnical engineering, in particular to a rock joint surface roughness measuring method and system. The method comprises the steps of firstly obtaining a triangular mesh of a rock surface; further based on the spatial distribution of the unit external normal vector in the global coordinate system, carrying out shielding detection on the local surface elements along a shearing reverse direction, and screening out potential contact surface elements; further analyzing each potential contact surface element in the global coordinate system, and calculating frictional sliding work in combination with preset working condition parameters; the rock mass supporting thickness is further obtained, and root cutting work is calculated in combination with preset working condition parameters and the projection area of the shear plane; root cutting work and friction sliding work are further compared, an energy consumption mode is marked, a shear energy consumption digraph is constructed, and equivalent shear resistance roughness is calculated, so that the problem that thin ridge bulges which are easy to cut off are counted into the roughness by mistake under high stress in a traditional method is solved, and stress-sensitive effective roughness measurement is realized.

Embodiments of the present application provide a method and device for constructing a surface element sub-area of a three-dimensional observation system and electronic equipment. The method for constructing a surface element sub-area of a three-dimensional observation system comprises: converting an established orthogonal observation system template into a cross arrangement template according to parameters of a target three-dimensional observation system; generating shot-receiver distance data information of a surface element sub-area of the target three-dimensional observation system according to the cross arrangement template; obtaining a number of surface elements and a coverage frequency of the surface element sub-area of the target three-dimensional observation system according to distribution information of a center point of a shot-receiver pair in the cross arrangement template; establishing a blank surface element sub-area of the target three-dimensional observation system according to the coverage frequency and the number of surface elements; and assigning shot-receiver distance data information to each surface element of the blank surface element sub-area in sequence according to a corresponding relationship between an arrangement rule of a shot-receiver pair in the target three-dimensional observation system and an arrangement rule of a shot-receiver pair in the cross arrangement template, to obtain surface element sub-area data after full coverage.

The application discloses a high angle of attack nonlinear separated flow aerodynamic force correction method, which comprises the following steps: obtaining aircraft surface pressure distribution data at zero reduced frequency by using a DES method; dividing surface elements on the surface area of the aircraft, and generating an AIC matrix AIC by using a dipole grid method based on the geometric information of each surface element; obtaining the aerodynamic force and moment of each surface element according to the AIC, and generating an aerodynamic force matrix A DLM,k＝0 of all surface elements at zero reduced frequency by using the aerodynamic force and moment of each surface element; interpolating the aircraft surface pressure distribution data obtained by using the DES method to each surface element to obtain the aerodynamic force matrix A DES of all surface elements; obtaining a force correction matrix W according to A DLM,k＝0 and A DES ; correcting the AIC matrix AIC by using the force correction matrix W to obtain a corrected aerodynamic force influence coefficient matrix AIC * ; and performing aerodynamic force correction and aeroelastic calculation by using the corrected aerodynamic force influence coefficient matrix AIC * , so as to complete the high angle of attack nonlinear separated flow aerodynamic force correction. The application can have both the calculation precision of CFD and the calculation efficiency of an engineering method.

The invention discloses a 3D printing real model rendering method based on variable granularity, and belongs to the technical field of 3D rendering. The method comprises the steps that 3D printing parameters and the number of layers of a printed object are obtained, and the 3D printing parameters comprise 3D printing head parameters and 3D printer parameters; carrying out single-layer modeling on a printed object on the basis of 3D printing parameters and an interval adjusting strategy; based on a multi-layer fusion strategy, surface elements of each layer of the printed object are obtained; obtaining a body element set of the printed object based on the surface element of each layer of the printed object and the same region principle; based on the body element set of the printed object, constructing a 3D model library; based on the 3D model library and the secondary rendering strategy, the real model of the printed object is rendered, and the method improves the speed and authenticity of 3D rendering.

The invention provides an orientation device for an IRS communication system. The orientation device comprises an antenna and a signal detection decision circuit, the antenna is arranged on user equipment UE, a spherical or ellipsoidal outer surface is adopted, the surface is composed of a series of identical surface elements, and each surface element is independently connected with a signal detection decision circuit. By using the device and the corresponding control method provided by the invention, the direction of arrival can be quickly detected, and a data link is established between the IRS and the user UE according to the azimuth angle of radiation between the user UE and the IRS. According to the device structure, the UE can have higher directivity when receiving the signal from the IRS, and misjudgment of the signal radiation direction is avoided.

A computer-implemented method includes: receiving an offset of a first boundary representation of a first three-dimensional object; forming a second boundary representation of a second three-dimensional object, the second three-dimensional object being an offset version of the first three-dimensional object; and processing the second boundary representation of the second three-dimensional object for output by a physical device. The forming includes processing a respective one of the connected curved elements using multiple threads to generate an offset curved element for the second boundary representation of the second three-dimensional object according to the offset; and identifying a portion of the connected curved surface element that will not have a corresponding portion in the offset curved surface element by evaluating a distance field representation of the first three-dimensional object using sampling points taken from the connected curved surface element, the offset curved surface element, or both.

The invention discloses an experimental method for generating point, line and surface specified area buffer areas, which comprises the following steps of: S1, respectively defining corresponding vector graphic file paths according to different application scenes and requirements, and reading corresponding point, line and surface element data; according to the method, the radius or the width of the buffer area is calculated, the actual area is calculated by utilizing an irregular polygon area calculation formula, namely a Gaussian area formula, error analysis is carried out on the actual area and the target area, the area of the buffer area is accurately controlled, and corresponding mathematical processing methods are adopted for different types of elements; the method has the advantages that the algorithm can be widely applied, such as approximately circular buffering of point elements and vertex coordinate zooming of polygon elements, and the generated polygon in the buffer area contains attribute information of original elements; the method is especially suitable for scenes requiring accurate control of the buffer area, such as city expansion extraction, environment evaluation and spatial analysis, and the analysis precision and efficiency of related fields are improved.

Aspects described herein disclose a full-viewing-angle depth information construction method. Aspects provide for obtaining a virtual scene, the virtual scene including a camera configured to present a view of the virtual scene in a direction of at least one viewing angle and at least one virtual object, generating a plurality of surface elements in the virtual scene, a surface element being a plane figure having a direction and a size and wherein each virtual object has at least one surface element. Aspects further provide for obtaining a depth value of each of the plurality of surface elements, the depth value being a distance value between the surface element and the camera and constructing full-viewing-angle depth information of the virtual scene by using the obtained depth values. Aspects provided herein reduce time and processing resources for constructing the full-viewing-angle depth information and while improving quality of the full-viewing-angle depth information.

This invention discloses a method, system, medium, and device for determining the reference pH value for acid etching to regulate the surface state of a material. The method includes: first, acquiring a test electrode containing the material to be treated; measuring the change in electrode resistance with temperature within a preset environmental condition and temperature range to obtain the resistance-temperature relationship; performing linear fitting on this relationship to determine a fitted straight line; and obtaining the material's conductivity activation energy based on the slope of the fitted straight line; determining the chemical bonds that preferentially break in the acid etching environment and the charge transfer number during the breaking process, based on the material's crystal structure and chemical bond characteristics; and finally, calculating the theoretical reference pH value for acid etching based on the conductivity activation energy and charge transfer number. Acid etching based on this reference pH value can effectively adjust the surface morphology and surface elemental composition of the material while ensuring the stability of the main material structure, significantly improving the consistency and reliability of the acid etching effect, and solving the problem of relying on experience to select the pH value in traditional processes.

The invention provides a laser real-time positioning and mapping SLAM method and device based on surface element characteristics, and the method comprises the steps: carrying out the parameterization processing of a continuous time motion track of a robot, and obtaining a parameterization result; according to the parameterization result, the initial pose of the robot is calculated; obtaining point cloud data of the space where the robot is located, obtaining surface elements of the space where the robot is located according to the point cloud data of the space where the robot is located, and performing surface element matching calculation on the surface elements of the space where the robot is located based on a preset time threshold to obtain a surface element matching result; according to the surface element matching result and the initial pose of the robot, calculating the corrected pose of the robot; updating the continuous time movement track of the robot according to the corrected pose of the robot; and according to the updated continuous time motion trail of the robot, the pose of the robot is updated and calculated. According to the invention, robot trajectory updating and pose estimation with higher precision can be realized in a complex environment based on a continuous time trajectory optimization framework.