公开(公告)号：US20190278288A1

公开(公告)日：2019-09-12

申请号：US16236364

申请日：2018-12-29

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xi Luo ,  Sotirios Stasinopoulos

IPC: G05D1/02 ,  G06T7/73 ,  G06K7/14 ,  G06K7/10

Abstract: The present disclosure provides a map generation method, localization method, and simultaneous localization and mapping method. The method includes: recognizing fiducial markers in the motion area; taking a position as origin of a global coordinate system of the robot, and obtaining pose information of the fiducial markers; the robot moving to a next position, recognizing the fiducial markers with determined coordinate information and underdetermined coordinate information respectively, and obtaining pose information of the fiducial marker of the undetermined coordinate information with respect to the origin based on that of the determined coordinate information; repeating the previous step until the pose information of all the fiducial markers are obtained; and generating a marker map associated with coordinate information of all fiducial markers. The method is capable of generating a map of the motion area through the fiducial markers and further realizing autonomous localization.

公开(公告)号：US11067997B2

公开(公告)日：2021-07-20

申请号：US16236364

申请日：2018-12-29

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Xi Luo ,  Sotirios Stasinopoulos

IPC: G05D1/02 ,  G06T7/73 ,  G06K7/14 ,  G06K7/10 ,  G05D1/00

Abstract: The present disclosure provides a map generation method, localization method, and simultaneous localization and mapping method. The method includes: recognizing fiducial markers in the motion area; taking a position as origin of a global coordinate system of the robot, and obtaining pose information of the fiducial markers; the robot moving to a next position, recognizing the fiducial markers with determined coordinate information and underdetermined coordinate information respectively, and obtaining pose information of the fiducial marker of the undetermined coordinate information with respect to the origin based on that of the determined coordinate information; repeating the previous step until the pose information of all the fiducial markers are obtained; and generating a marker map associated with coordinate information of all fiducial markers. The method is capable of generating a map of the motion area through the fiducial markers and further realizing autonomous localization.