http://rdf.ncbi.nlm.nih.gov/pubchem/patent/CN-112305554-B
Outgoing Links
| Predicate | Object |
|---|---|
| classificationCPCAdditional | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T2207-10012 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T2207-10044 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T2200-04 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T2207-10028 |
| classificationCPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01S17-42 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01S7-4808 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01S17-08 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T7-246 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T7-55 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T7-70 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G01S17-89 http://rdf.ncbi.nlm.nih.gov/pubchem/patentcpc/G06T7-73 |
| classificationIPCInventive | http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G01S17-08 http://rdf.ncbi.nlm.nih.gov/pubchem/patentipc/G06T7-70 |
| filingDate | 2020-11-23-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| grantDate | 2021-05-28-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationDate | 2021-05-28-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| publicationNumber | CN-112305554-B |
| titleOfInvention | Laser odometer method, system and device based on directed geometric points and sparse frames |
| abstract | The invention belongs to the technical field of service robots, and particularly relates to a laser odometry method, a system and a device based on directed geometric points and sparse frames, aiming at solving the problem of low frame map matching efficiency in the laser odometry method. The method comprises the following steps: acquiring original three-dimensional point cloud data of the surrounding environment under a current frame coordinate system of a laser radar sensor; constructing a first directed geometric point set and a first environment directed geometric point set; converting the first directed geometric point set and the first environment directed geometric point set into a world coordinate system to obtain a second directed geometric point set and a second environment directed geometric point set; calculating candidate associated points of the points in the second directed geometric point set in the second environment directed geometric point set, and determining the optimal associated points; constructing a pose optimization function, and solving to obtain an optimized pose of the current frame coordinate system of the laser radar sensor to the world coordinate system; and updating the directed geometric point set of the sparse frame. The invention improves the efficiency of frame image matching. |
| priorityDate | 2020-11-23-04:00^^<http://www.w3.org/2001/XMLSchema#date> |
| type | http://data.epo.org/linked-data/def/patent/Publication |
Incoming Links
| Predicate | Subject |
|---|---|
| isDiscussedBy | http://rdf.ncbi.nlm.nih.gov/pubchem/substance/SID422707724 http://rdf.ncbi.nlm.nih.gov/pubchem/compound/CID25078152 http://rdf.ncbi.nlm.nih.gov/pubchem/protein/ACCP27058 |
Total number of triples: 25.