The invention discloses a positioning method and device, a robot and a storage medium. The method comprises the steps of obtaining a plurality of first sampling points corresponding to a current environment where the robot is located, wherein the first sampling points are obtained based on environment objects in the current environment; determining a first feature vector corresponding to the first sampling point; a second feature vector corresponding to a second sampling point in a global map is obtained, the global map corresponds to the current environment, and the second sampling point comprises a sampling point of a map edge line in the global map; and matching the first feature vector with the second feature vector, and determining a target position of the robot in the global map based on an obtained matching result. A target position of a robot in a global map is determined based on a matching result of a first feature vector and a second feature vector by acquiring a first sampling point in a current environment and a first feature vector corresponding to the first sampling point and a second feature vector corresponding to a second sampling point in the global map; and the positioning of the robot in the global map is more accurate.
本申请公开了一种定位方法、装置、机器人以及存储介质。该方法通过获取机器人所在当前环境对应的多个第一采样点,第一采样点基于当前环境中的环境对象得到;确定第一采样点对应的第一特征向量;获取全局地图中的第二采样点对应的第二特征向量,全局地图与当前环境相对应,第二采样点包括全局地图中地图边沿线的采样点;将第一特征向量与第二特征向量进行匹配,基于得到的匹配结果确定机器人在全局地图中的目标位置。通过获取当前环境中的第一采样点及其对应的第一特征向量,以及全局地图中的第二采样点对应的第二特征向量,基于第一特征向量与第二特征向量的匹配结果确定机器人在全局地图中的目标位置,使机器人在全局地图中的定位更加准确。
Positioning method and device, robot and storage medium
定位方法、装置、机器人以及存储介质
2024-01-26
Patent
Electronic Resource
Chinese
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