Positioning method and robot using the same
US10783661B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 20, 2019 |
| Grant date | Sep 22, 2020 |
| Priority date | — |
| Expiry date | Jun 5, 2039 |
Classification
- Technology area (CPC H)Electricity
- CPC primaryH04W56/001
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
The present disclosure provides a positioning method and a robot using the same. The method includes: obtaining, through the visual sensor, a current frame image; obtaining, through the ultra-wideband tag, distance of a robot from an ultra-wideband anchor; performing a feature matching on the current frame image and an adjacent frame image to generate partial map point(s); determining whether the current frame image is a key frame image; and optimizing a pose of the visual sensor corresponding to the key frame image through a joint objective function in response to the current frame image being the key frame image, where the joint objective function at least comprises a distance cost function of the ultra-wideband anchor and a visual residual cost function. Through the above-mentioned method, the accuracy of the positioning of the robot can be improved.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.