公开(公告)号：US20210063577A1

公开(公告)日：2021-03-04

申请号：US16699750

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHICHAO LIU ,  Youjun Xiong

IPC: G01S17/89 ,  G05D1/02 ,  G01S7/48

Abstract: The present disclosure provides a robot relocalization method including: obtaining a level feature of an object in a laser map and calculating a first pose list; matching a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, if a distance between the level feature of the object and an initial position of a relocation of the robot is smaller than a threshold; splicing the laser subgraph point cloud into subgraphs, and performing a multi-target template matching to obtain a first matching candidate result; filtering the first matching candidate result based on the second pose list to obtain a second matching candidate result; determining a overlapping area of the second matching candidate result and the subgraph, and matching boundary points in the overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.

公开(公告)号：US20200241112A1

公开(公告)日：2020-07-30

申请号：US16699765

申请日：2019-12-02

Applicant: UBTECH ROBOTICS CORP LTD

Inventor： ZHICHAO LIU ,  Jian Zhang ,  Youjun Xiong ,  Jianxin Pang

IPC: G01S7/48 ,  G06K9/62 ,  G01S17/931

Abstract: The present disclosure provides a localization method as well as a robot using the same. The method includes: obtaining laser scan points and particles; mapping each of the laser scan points to a global coordinate system based on each of the particles to obtain global boundary points of each of the particles; finding a matching boundary point in the global boundary points by comparing the global boundary points of the particle with points corresponding to static objects in a known map; calculating a distance between the matching boundary point of the particle and the points corresponding to the static objects, and increasing a weight of the matching boundary point if the distance is less than a preset threshold; calculating a weight of the particle by matching the global boundary points of the particle with the known map; and estimating a localization result.