US 12,253,615 B2
Beacon map construction method, device, and computer-readable storage medium
Yu Tang, Shenzhen (CN); Mingqiang Huang, Shenzhen (CN); Dunhao Liu, Shenzhen (CN); Tiecheng Sun, Shenzhen (CN); and Jichao Jiao, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Dec. 26, 2022, as Appl. No. 18/088,755.
Claims priority of application No. 202210249133.7 (CN), filed on Mar. 14, 2022.
Prior Publication US 2023/0288526 A1, Sep. 14, 2023
Int. Cl. G01S 5/02 (2010.01)
CPC G01S 5/02525 (2020.05) [G01S 5/0244 (2020.05)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented beacon map construction method, comprising:
obtaining measured positions of beacons at the (i−1)-th station point among a plurality of station points by a measuring equipment, wherein i is a natural number larger than 1;
obtaining a first pose constraint relationship of the measuring equipment at the i-th station point among the plurality of station points relative to the (i−1)-th station point based on pose change information of station switching;
obtaining a second pose constraint relationship of the i-th station point relative to beacons collected by the measuring equipment at the i-th station point, based on a pose of each of the beacons collected by the measuring equipment at the i-th station point, and the positions of the beacons collected by the measuring equipment at the (i−1)-th station point;
determining an error equation of the i-th station point based on the first pose constraint relationship and the second pose constraint relationship; and
optimizing the error equation to determine a position of the i-th station point, and constructing a beacon map based on the determined position of the i-th station point.