公开(公告)号：US20240053168A1

公开(公告)日：2024-02-15

申请号：US18232791

申请日：2023-08-10

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： YONGSHENG ZHAO ,  Yu Tang

IPC: G01C21/00

CPC classification number: G01C21/3837

Abstract: A mapping method for a robot includes: detecting a plurality of linear trajectories of the robot in a process of building a map; inserting a positioning key frame corresponding to each of the linear trajectories, wherein the positioning key frame comprises, when the robot is located on a corresponding one of the linear trajectories, a first pose in a positioning coordinate system, and a second pose in a map coordinate system; and for each two adjacent ones of the linear trajectories, according to one of the first poses determined according to a displacement between the positioning key frames of the two adjacent ones of the linear trajectories, performing optimization of loop closure constraints on the second poses of the positioning key frames, and generating a map based on the optimized positioning key frames.