公开(公告)号：US20220075068A1

公开(公告)日：2022-03-10

申请号：US17472027

申请日：2021-09-10

申请人： Chen Liu ,  Zhiliu Yang ,  Shaoshan Liu

发明人： Chen Liu ,  Zhiliu Yang ,  Shaoshan Liu

IPC分类号： G01S17/89 ,  G05D1/02 ,  G01S15/86 ,  G01S17/58

摘要： A tightly coupled fusion approach that dynamically consumes light detection and ranging (LiDAR) and sonar data to generate reliable and scalable indoor maps for autonomous robot navigation. The approach may be used for the ubiquitous deployment of indoor robots that require the availability of affordable, reliable, and scalable indoor maps. A key feature of the approach is the utilization of a fusion mechanism that works in three stages: the first LiDAR scan matching stage efficiently generates initial key localization poses; a second optimization stage is used to eliminate errors accumulated from the previous stage and guarantees that accurate large-scale maps can be generated; and a final revisit scan fusion stage effectively fuses the LiDAR map and the sonar map to generate a highly accurate representation of the indoor environment.