Fusion positioning method and apparatus, device and computer-readable storage medium

Abstract

A fusion positioning method, comprising: sampling an environmental object by means of a two-dimensional laser radar carried by a robot, so as to acquire radar point cloud-related data of the environmental object; performing adjacent matching on the position Pof a landmark Lin the environmental object on a road sign map and the landmark map, so as to acquire the position Pof a landmark Lnearest to the position Pon the landmark map; performing scan matching on a two-dimensional grid map by using point cloud data, from which distortion is removed, of the environmental object, so as to acquire a global pose of the robot in the two-dimensional grid map, and taking same as a global pose observation value G pose of the robot; and according the position Pof the landmark Lon the landmark map, the position Pof the landmark Lon the landmark map, and an estimated pose and the global pose observation value G pose of the robot, performing an iterative optimization on the pose of the robot until the error Eand the error Eare the smallest.