公开(公告)号：US20230123671A1

公开(公告)日：2023-04-20

申请号：US18069856

申请日：2022-12-21

Applicant: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.

Inventor： Xiaobo WAN ,  Yueqiang DONG ,  Kang WANG ,  Xianpeng MENG

IPC: G06T7/73

Abstract: A method for localization and mapping is provided. The method includes: determining a first estimated pose of a current frame based on a matching result of scan data of the current frame and a first submap and a pose of the first submap, where the first submap includes scan data of a common-viewing-angle frame; adding the scan data of the current frame into the first submap; determining a plurality of candidate poses around the first estimated pose; matching the scan data of the current frame with the second submap based on each candidate pose and a pose of each second submap to determine a score of each candidate pose, and determining a second estimated pose of the current frame corresponding to the second submap; determining a third estimated pose from the at least one second estimated pose; updating the scan data based on the third estimated pose.

公开(公告)号：US20230206554A1

公开(公告)日：2023-06-29

申请号：US17929245

申请日：2022-09-01

Applicant: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.

Inventor： Xiaobo WAN ,  Yueqiang DONG ,  Kang WANG ,  Xianpeng MENG

IPC: G06T17/05

CPC classification number: G06T17/05

Abstract: A mapping method, an electronic device and a readable storage medium, which relate to the fields of map generation technologies, indoor localization technologies, are disclosed. The mapping method includes: acquiring current frame point cloud data of a target scenario to obtain a submap sequence and an active submap corresponding to the current frame point cloud data; acquiring initial posture data of the current frame point cloud data, and obtaining target posture data of the current frame point cloud data according to the initial posture data and the active submap; obtaining at least one posture constraint condition according to the target posture data of the current frame point cloud data and the submap sequence; and performing posture optimization on the submap sequence according to the at least one posture constraint condition, and obtaining a mapping result of the target scenario according to the submap sequence after the posture optimization.