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：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

IPC: G06T17/05 ,  G06T5/40 ,  G06T7/11 ,  G06T7/12 ,  G06V10/44 ,  G06V10/74

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.