-
Patent Agency Ranking
公开(公告)号：US20230288526A1
公开(公告)日：2023-09-14
申请号：US18088755
申请日：2022-12-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： YU TANG , Mingqiang Huang , Dunhao Liu , Tiecheng Sun , Jichao Jiao
IPC: G01S5/02
CPC classification number: G01S5/02525 , G01S5/0244
Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i−1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i−1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i−1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.
-
公开(公告)号：US20240215788A1
公开(公告)日：2024-07-04
申请号：US18372003
申请日：2023-09-22
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： SIMIN ZHANG , Yongsheng Zhao , Jichao Jiao , Jiahao Ji
CPC classification number: A47L11/4011 , A47L9/2805 , A47L9/2852 , G05D1/0214 , A47L2201/04 , G05D2201/0203 , G05D2201/0215
Abstract: A collided position determination method, a computer-readable storage medium, and a robot are provided. The method includes: obtaining, from a collision sensor of the robot, a triggered signal corresponding to a collision of the robot; determining at least two candidate positions of the collision based on the triggered signal corresponding to the collision; obtaining a motion trajectory of the robot after the collision; and obtaining a collided position by screening each of the candidate positions of the collision according to the motion trajectory. In this manner, when the robot collides during its movement, the collision signal generated by the collision sensor of the robot can accurately mark the collided position, thereby reducing the probability of the robot colliding again at the same position.
-
3.发明公开公开(公告)号：US20240020923A1
公开(公告)日：2024-01-18
申请号：US18220835
申请日：2023-07-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： TIECHENG SUN , Jichao Jiao
CPC classification number: G06T17/05 , G06T5/40 , G06T7/11 , G06T7/12 , G06V10/44 , G06V10/761 , G06T2207/10028
Abstract: A method includes: performing semantic segmentation on an RGBD image to obtain a semantic label of each pixel of the image; performing reconstruction of a point cloud based on the image and mapping the semantic label of each pixel of the image into the point cloud to respectively obtain a semantic point cloud of a current frame with the semantic labels and a three-dimensional scene semantic map with the semantic labels; generating two-dimensional discrete semantic feature points for each of three-dimensional semantic point clouds in the current frame and the semantic map to obtain a corresponding two-dimensional semantic feature point image, and performing a three-dimensional semantic feature description on each feature point in the two-dimensional semantic feature point image; and performing feature matching on all feature points in the current frame and all feature points in the semantic map to obtain positioning information based on the three-dimensional semantic feature description.
-
4.发明授权公开(公告)号：US12293457B2
公开(公告)日：2025-05-06
申请号：US18220835
申请日：2023-07-12
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Tiecheng Sun , Jichao Jiao
Abstract: A method includes: performing semantic segmentation on an RGBD image to obtain a semantic label of each pixel of the image; performing reconstruction of a point cloud based on the image and mapping the semantic label of each pixel of the image into the point cloud to respectively obtain a semantic point cloud of a current frame with the semantic labels and a three-dimensional scene semantic map with the semantic labels; generating two-dimensional discrete semantic feature points for each of three-dimensional semantic point clouds in the current frame and the semantic map to obtain a corresponding two-dimensional semantic feature point image, and performing a three-dimensional semantic feature description on each feature point in the two-dimensional semantic feature point image; and performing feature matching on all feature points in the current frame and all feature points in the semantic map to obtain positioning information based on the three-dimensional semantic feature description.
-
公开(公告)号：US12253615B2
公开(公告)日：2025-03-18
申请号：US18088755
申请日：2022-12-26
Applicant: UBTECH ROBOTICS CORP LTD
Inventor： Yu Tang , Mingqiang Huang , Dunhao Liu , Tiecheng Sun , Jichao Jiao
IPC: G01S5/02
Abstract: A beacon map construction method, a device, and a computer-readable storage medium are provided. In the method, obtaining measured positions of beacons at the (i−1)-th station point by a measuring equipment; obtaining a first pose constraint relationship of the measuring equipment at the i-th station point relative to the (i−1)-th station point; obtaining a second pose constraint relationship of the i-th station point relative to beacons at the i-th station point, based on a pose of each of the beacons at the i-th station point, and the positions of the beacons at the (i−1)-th station point; determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.
-
-
-
-
Search Results
5
records
(took 0.011 seconds)
