Method and system for creating map based on 3D laser
US10801855B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 12, 2018 |
| Grant date | Oct 13, 2020 |
| Priority date | — |
| Expiry date | Oct 20, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG09B29/004
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method for creating a map based on 3D laser that includes: planning a route, and acquiring data in a movement process of a mobile robot; loading acquired data by using a map creating tool; performing initial alignment to adjacent laser data; performing accurate alignment to the adjacent laser data; performing closed-loop association to the same area passed through by the mobile robot, and establishing a closed-loop constraint; performing global optimization solution to an entire map for which the closed-loop constraint is established; and superposing all laser data, and outputting a laser map. The method does not depend on GPS and is not restricted by GPS signals. By using the method, cumbersome surveying and mapping operations can be avoided and large-scale maps of various indoor and outdoor environments can be created and maps can be finely adjusted off line, and high-accuracy maps can be created.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.