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.