公开(公告)号：US11971726B2

公开(公告)日：2024-04-30

申请号：US17465883

申请日：2021-09-03

申请人： Wuhan University of Science and Technology

发明人： Lin Jiang ,  Dongjun Fang ,  Wenkang Nie ,  Chao Xiang ,  Shengxi Jin ,  Jianpeng Zuo

IPC分类号： G01S17/89 ,  G01S17/08 ,  G05D1/00 ,  G06T7/11 ,  G06T7/579 ,  G06T7/80

CPC分类号： G05D1/0274 ,  G01S17/08 ,  G01S17/89 ,  G05D1/0248 ,  G06T7/11 ,  G06T7/579 ,  G06T7/80 ,  G06T2207/10024 ,  G06T2207/10028

摘要： A method of constructing an indoor wall corner two-dimensional semantic map based on a robot platform includes controlling, by the master control computer, the robot platform to move indoors, collecting, by the lidar sensor, a distance between an indoor object and the robot platform and a direction angle between the indoor object and the robot platform in real time and transmitting the distance and the direction angle to the master control computer, and obtaining, by the master control computer, an environment grid map and a real-time pose of the robot platform by processing the distance between the indoor object and the robot platform and the direction angle between the indoor object and the robot platform based on Gmapping algorithm; constructing a semantic segmentation data set as a training set on the master control computer and obtaining a predicted non-wall corner semantic label.