公开(公告)号：US20210191421A1

公开(公告)日：2021-06-24

申请号：US16935234

申请日：2020-07-22

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： Rui GUO ,  Chenchen JIANG ,  Kun XIE ,  Zhichao LIU ,  Youjun XIONG ,  Jianxin PANG

IPC: G05D1/02 ,  G06T7/579

Abstract: The present disclosure provides an autonomous mobile apparatus and a control method thereof. The method includes: starting a SLAM mode; obtaining first image data captured by a first camera; extracting a first tag image of positioning tag(s) from the first image data; calculating a three-dimensional camera coordinate of feature points of the positioning tag(s) in a first camera coordinate system of the first camera based on the first tag image; calculating a three-dimensional world coordinate of the feature points of the positioning tag(s) in a world coordinate system based on a first camera pose of the first camera when obtaining the first image data in the world coordinate system and the three-dimensional camera coordinate; and generating a map file based on the three-dimensional world coordinate of the feature points of the positioning tag(s).