Pose determining method for mobile robot and apparatus and mobile robot thereof
US11034028B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 5, 2019 |
| Grant date | Jun 15, 2021 |
| Priority date | — |
| Expiry date | Feb 27, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40506
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
The present disclosure provides a pose determining method for a mobile robot as well as an apparatus and a mobile robot thereof. The method includes: obtaining a first position of a mobile robot in each local map after building an initial local map corresponding to a current environment and rotating; determining first environmental contour points of each of the local maps and corresponding first gradient directions, and obtaining a relative position of each of the first environmental contour points and the corresponding first position; building an angle histogram in each of the local maps; determining a second position of second environmental contour points of a global map and corresponding second gradient directions; and predicting a third position in the global map of the mobile robot, counting an appearance amount of the third positions, and determining a target pose of the mobile robot in the global map.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.