公开(公告)号：US20240286282A1

公开(公告)日：2024-08-29

申请号：US18395309

申请日：2023-12-22

申请人： UBTECH ROBOTICS CORP LTD

发明人： YULONG GU ,  Youjun Xiong ,  Simin Zhang ,  Yun Zhao

IPC分类号： B25J9/16 ,  B25J19/02

CPC分类号： B25J9/1661 ,  B25J9/161 ,  B25J9/1653 ,  B25J19/022

摘要： A method for determining a pose of a robot having a lidar including: obtaining a first pose of the robot in a map coordinate system; determining first positions of laser points corresponding to the lidar in the map coordinate system according to the first pose when the lidar performs laser scanning; determining matching scores between the first positions and grids where the first positions are located according to the first positions and mean values of the grids where the first positions are located, wherein the grids are grids in a probability map corresponding to the map coordinate system; determining a first confidence level for the first pose based on the matching scores; and determining a target pose according to the first confidence level.