Robot Pose Display in 3D Maps Using 2D-3D Map Matching
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Solution Overview
Problem
Existing technologies fail to provide height information of obstacles in the area where a robot is located, limiting user understanding of the three-dimensional environment.
Innovation Solution
A method and apparatus that acquire a three-dimensional map, match it with a two-dimensional map constructed by the robot, and display the robot's pose in the three-dimensional map, incorporating height information by projecting valid portions onto a horizontal plane and using marker-based matching to maximize overlapping areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If a two-dimensional map is used to represent the robot's environment, then the system complexity is low and the map can be easily constructed, but height information of obstacles is lost
Solution Approach 1:
The patent transitions from a two-dimensional map to a three-dimensional map representation by introducing height information. The three-dimensional map is constructed by integrating laser radar data that captures vertical dimensions, allowing obstacles to be represented with their actual height rather than being flattened to a single plane. This dimensional expansion directly addresses the information loss while managing complexity through structured data organization.
Solution Approach 2:
The patent embeds the two-dimensional map within the three-dimensional map structure. The existing two-dimensional positional information serves as the base layer, while height information is nested as an additional dimension. This nesting approach allows the system to retain all original two-dimensional functionality while adding three-dimensional capabilities, rather than completely replacing the existing map system.
2Loss of information
If a three-dimensional map is constructed to provide height information, then complete environmental representation is achieved, but the matching and processing complexity increases
Solution Approach 1:
The patent divides the map matching process into two independent stages: first matching two-dimensional positions between the robot's map and the three-dimensional map, then separately determining height information. This segmentation allows the system to leverage existing robust two-dimensional matching algorithms while adding three-dimensional capabilities, reducing the overall complexity compared to attempting direct three-dimensional matching from scratch.
Solution Approach 2:
The patent handles the three-dimensional matching complexity by processing the vertical dimension separately from the horizontal dimensions. The laser radar data provides height information that is integrated into the existing two-dimensional matching framework, allowing the system to solve the three-dimensional problem through a combination of established two-dimensional techniques and additional vertical data processing.
3Loss of information
If laser radar is used to measure distance to obstacles, then the robot can navigate autonomously, but height information of obstacles cannot be acquired
Solution Approach 1:
The patent makes the laser radar perform a dual function: it continues to provide distance measurement for navigation while simultaneously capturing height information for three-dimensional mapping. By adjusting the scanning mechanism to include vertical angle measurements, the same sensor system serves both the original navigation purpose and the new height detection purpose, avoiding the need for additional specialized sensors.
Solution Approach 2:
The patent introduces dynamic scanning capabilities to the laser radar system, allowing it to adjust scanning angles and coverage areas based on the robot's current task and environment. The laser radar can dynamically switch between standard horizontal scanning for navigation and extended vertical scanning for height measurement, optimizing performance for different operational requirements without requiring separate fixed systems.
Data Source
AI summary
The present disclosure provides a method for displaying a pose of a robot in a three-dimensional map, an apparatus, a device, and a storage medium. The method includes: acquiring a three-dimensional map of a space in which the robot is located; acquiring a two-dimensional map constructed by the robot; matching the three-dimensional map with the two-dimensional may constructed by the robot to obtain a correspondence between the three-dimensional map and the two-dimensional map constructed by the robot; acquiring a nose of the robot on the two-dimensional map constructed by the robot; and displaying a pose of the robot in the three-dimensional map based on the pose of the robot on the two-dimensional map constructed by the robot and the correspondence between the three-dimensional map and the two-dimensional map constructed by the robot.