A 3D Laser Positioning Method for Robots in Sparse Environment
A technology of three-dimensional laser and positioning method, which is applied in the field of intelligent robots, can solve problems such as difficult to thoroughly scan the environment, cannot effectively describe the three-dimensional structure, and affect the positioning accuracy of the robot, so as to avoid positioning drift, improve positioning accuracy, and improve positioning efficiency Effect
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[0062] An embodiment of the present invention introduces a three-dimensional laser positioning method for a robot in a sparse environment.
[0063] The robot that this embodiment adopts, its hardware system sensor mainly comprises odometer, inertial navigation unit, three-dimensional laser sensor, and wherein odometer can be used for the predicted value of calibration position, and inertial navigation unit can be used for calibration linear velocity, angular velocity, three-dimensional laser sensor. Sensors are used to obtain laser data. The robot software system uses the robot operating system ROS, which is a commonly used robot software platform. It can provide functions similar to operating systems for heterogeneous computer clusters, and the ROS system includes nodes that implement positioning functions. Of course, it can be understood that the method of the present invention can also be implemented by other robot software systems, and the ROS system is used in this embodi...
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