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公开(公告)号:US20210008730A1
公开(公告)日:2021-01-14
申请号:US16561033
申请日:2019-09-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor: XU HU , Peng Nie , Wei Fang , Jiawen Hu , Youjun Xiong
Abstract: The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.
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公开(公告)号:US11034028B2
公开(公告)日:2021-06-15
申请号:US16561033
申请日:2019-09-05
Applicant: UBTECH ROBOTICS CORP LTD
Inventor: Xu Hu , Peng Nie , Wei Fang , Jiawen Hu , Youjun Xiong
Abstract: The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.
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