The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 03, 2023
Filed:
May. 27, 2022
Guangdong University of Technology, Guangzhou, CN;
Jianqi Liu, Guangzhou, CN;
Ouyu Wang, Guangzhou, CN;
Guangdong University of Technology, Guangzhou, CN;
Abstract
Disclosed is an indoor SLAM method based on three-dimension (3D) lidar and ultra-wide band (UWB). Firstly, a UWB positioning system is deployed in an indoor area, then a robot carrying 3D lidar sensors explores the indoor area, and finally, a SLAM algorithm integrating lidar data and UWB data is used to generate a map of the explored area. The method specifically includes the following steps: determining a relative pose transformation between the 3D laser SLAM coordinate system and the UWB positioning coordinate system; using UWB data to provide initial value for inter-frame matching of laser odometer; using UWB data to add constraints to SLAM back-end pose graph; and performing loop detection based on curvature feature coding. This application breaks through the limitation of lighting conditions of indoor areas, eliminates the accumulated errors of SLAM, and constructs a high-quality indoor map.