Laser Observation Ray Grid Positioning for Accurate Voxel Mapping
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Solution Overview
Problem
Current grid and voxel positioning methods for mobile robots using laser ranging and positioning fail to accurately determine the grid hit by a laser point due to neglecting the laser observation direction, resulting in reduced positioning accuracy in two-dimensional and three-dimensional grid maps.
Innovation Solution
A method that selects two preset intersection points within a grid or voxel, determining the target grid or voxel hit by the laser point based on the ratio of distances between these points and a proportion coefficient, considering the observation direction to improve positioning accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional grid positioning methods are used without considering laser observation direction, then the positioning process is simple, but positioning accuracy is reduced
Solution Approach 1:
The patent introduces the laser observation direction as an additional dimension to the traditional grid positioning method. By considering the direction from the laser sensor to the laser point in addition to the spatial coordinates, the method determines which grid the laser point actually hits along the observation ray, thereby improving positioning accuracy without excessive complexity
Solution Approach 2:
The patent uses the observation ray as an intermediary element to connect the laser sensor (observation point) and the laser point. By tracing the ray from the observation point through the laser point and determining which grid it hits, the method accurately identifies the target grid while accounting for the observation direction, thus resolving the contradiction between simplicity and accuracy
2Measurement precision
If laser observation direction is considered to improve positioning accuracy, then positioning precision improves, but calculation complexity increases
Solution Approach 1:
The patent performs preliminary calculations by pre-determining the observation ray direction from the laser sensor to the laser point before grid identification. This preliminary action of establishing the observation ray allows for more accurate grid determination while organizing the calculation process in a structured manner that manages complexity
Solution Approach 2:
The patent segments the positioning process into distinct steps: (1) identifying the observation point and laser point coordinates, (2) calculating the observation ray direction, (3) determining which grid the ray hits, and (4) identifying the target grid. This segmentation of the calculation process makes the complex task more manageable and implementable
Data Source
AI summary
The present invention relates to grid and voxel positioning methods based on a laser observation direction, a robot, and a chip. The grid positioning method comprises: selecting two preset intersection points that are in a same preset grid in which a laser point is located; then, in the two preset intersection points, setting the preset intersection point farthest from an observation point as a first preset intersection point, and setting the preset intersection point closest to the same observation point as a second preset intersection point; and according to a magnitude relationship between a ratio of a second preset distance to a first preset distance and a preset proportion coefficient, determining a target grid hit by the laser point in the direction of an observation ray, so as to form a latest hit grid position of the laser point within the two-dimensional grid map.