The invention discloses a
voxel and sparse
convolution-based local scene
attention network navigation method and
system for an indoor
service robot, and the method comprises the following steps: S1, collecting original
point cloud data of an indoor environment in real time through a three-dimensional
laser radar carried by the
robot, obtaining the information of an object in the environment, and forming an original
point cloud data set; s2, dividing a three-dimensional space corresponding to the original
point cloud data collected in the step S1 into regular 3D
voxel grids, performing
feature aggregation on all the point
cloud data in each
voxel grid, and calculating a voxel feature mean value VFM and a voxel feature
covariance VFC; s3, constructing a sparse
convolution U-Net network, and performing multi-scale
feature extraction on the
feature data after voxelization in the step S2; s4, dynamically generating a local
region of interest based on the features extracted in the step S3 in combination with the real-time motion state of the
robot; s5, performing attention weight calculation and feature weighting on the local
region of interest generated in the step S4; and S6, generating a control instruction according to the features obtained in the step S5.