Positioning method and device, electronic equipment and storage medium

• Main Authors: CHENG HAOTIAN, WANG SHIWEI, SONG LE, GUO XIN, TAN HAOXUAN, LI GUOLIN, QIN BAOXING, CHEN KAN, HUO FENG
• Format: Patent
• Language: Chinese; English
• Published: 27.08.2021
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention discloses a positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: collecting the current pose of a robot and the depth data of at least one preset direction; extracting outer contour points of at least one plane from the depth data and forming a feature point cloud; determining an obstacle score of the feature point cloud in a preset global grid map, wherein the preset global grid map is formed based on historical point clouds; and optimizing the current pose according to the obstacle score to determine positioning information of the robot. According to the invention, the pose of the robot is optimized through the obstacle score of the depth data in the preset global grid map, the accuracy of the robot positioning information is improved, the robot service quality can be enhanced, and the improvement of the user experience is facilitated. 本发明公开了一种定位方法、装置、电子设备和存储介质，其中，该方法包括：采集机器人的当前位姿以及至少一个预设方向的深度数据；在所述深度数据提取至少一个平面的外轮廓点并构成特征点云；确定所述特征点云在预设全局栅