Feature map updating method and device of mobile robot and medium

A mobile robot and feature map technology, applied in the field of robotics, can solve the problems of poor quality of feature maps, affecting the stability of the positioning process, etc., to achieve the effects of improving stability, improving positioning and obstacle avoidance capabilities, and saving computing memory

Pending Publication Date: 2022-06-03
山东新一代信息产业技术研究院有限公司
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  • Abstract
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  • Claims
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AI Technical Summary

Problems solved by technology

[0004] One or more embodiments of this specification provide a method, device, and medium for updating a feature map of a mobile robot, which are used to solve the following technical problem: due to redundant features in the scanned features, the quality of the updated feature map is poor The problem affects the stability of the subsequent positioning process

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  • Feature map updating method and device of mobile robot and medium
  • Feature map updating method and device of mobile robot and medium
  • Feature map updating method and device of mobile robot and medium

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Embodiment Construction

[0025] In order to make those skilled in the art better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings in the embodiments of this specification. Obviously, the described The embodiments are only some of the embodiments of the present specification, but not all of the embodiments. Based on the embodiments of the present specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present specification.

[0026] With the rapid development of science and technology, the application fields of mobile robots are gradually expanding, and the working environment they face is becoming more and more complex. The realization of autonomous navigation of robots is an important step to deal with the problems caused by various complex...

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Abstract

The embodiment of the invention discloses a feature map updating method and device for a mobile robot and a medium, and the method comprises the steps: obtaining the point cloud data of the mobile robot at the current moment, and generating a current feature point set according to a plurality of feature points in the point cloud data; performing nearest neighbor matching on a plurality of feature points in the current feature point set and feature points in a preset initialized feature map; dividing a plurality of feature points in the current feature point set into a first type of feature points and a second type of feature points according to a matching result of nearest neighbor matching, and updating positions of corresponding feature points matched with the first type of feature points in a preset initialized feature map according to pre-acquired position information of the first type of feature points, generating a first feature map; and adding each feature point in the second type of feature points to the first feature map according to pre-acquired position information of the second type of feature points, and generating an updated feature map.

Description

technical field [0001] The present specification relates to the field of robotics, and in particular, to a method, device and medium for updating a feature map of a mobile robot. Background technique [0002] With the rapid development of science and technology, the application fields of mobile robots are gradually expanding, and the working environment they face is becoming more and more complex. The realization of autonomous navigation of robots is an important step to deal with the problems caused by various complex working environments. Mobile robot map Construction is a key technology in mobile robot technology, and the construction of feature maps is directly related to the accuracy and stability of mobile robots in the subsequent positioning process. [0003] In indoor mobile robot application scenarios, single-line LiDAR is often used to scan surrounding environmental features such as arcs, line segments, corners, etc., and record them, and save them in the feature m...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/3811G01C21/206
Inventor 高文举高明王建华马辰
Owner 山东新一代信息产业技术研究院有限公司
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