| CPC G01B 5/004 (2013.01) [G01B 3/12 (2013.01); G01B 5/24 (2013.01)] | 20 Claims |
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1. A trajectory generation method, comprising:
obtaining distance information which a ranging apparatus has traveled;
obtaining, from a sensor system, first angle information and second angle information corresponding to the ranging apparatus when the ranging apparatus is traveling in a space;
determining a plurality of target sample points for a trajectory diagram of the space, comprising:
using a candidate sample point as one of the plurality of target sample points, the candidate sampling point being defined by a distance value obtained from the distance information and an angle value obtained from the first angle information;
determining whether a trajectory adjustment condition is satisfied, wherein the trajectory adjustment condition includes at least one of a first trajectory adjustment condition or a second trajectory adjustment condition, the first trajectory adjustment condition is based on a first change rate of the first angle information and a second change rate of the second angle information, and the second trajectory adjustment condition is based on a plurality of angle values in the second angle information:
in response to the trajectory adjustment condition not being satisfied, determining coordinates of the candidate sample point based on the distance information and the first angle information; and
in response to the trajectory adjustment condition being satisfied, adjusting the candidate sample point based on the distance information, the first angle information, and the second angle information; and
generating the trajectory diagram by connecting the plurality of target sampling points.
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