Title:
MAPPING METHOD AND APPARATUS, DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/050961
Kind Code:
A1
Abstract:
The present application provides a mapping method and apparatus, a device, and a storage medium, applied to a mobile device configured with an observation device which at least comprises a radar. The method comprises: obtaining a first point cloud frame acquired by a radar at the current moment; if the first point cloud frame and a second point cloud frame acquired by the radar at a moment previous to the current moment meet an underconstraint condition, using the second point cloud frame as an ending frame of a first local sub-map of an area to be mapped, and using the first point cloud frame as a starting frame of a second local sub-map of said area, wherein different local sub-maps correspond to different sub-areas in said area; and generating a point cloud map of said area on the basis of the first local sub-map and the second local sub-map. According to the present application, two point cloud frames having an underconstraint problem and adjacent acquisition moments are divided into two different local sub-maps, so that no underconstraint is present inside each local sub-map, thereby ensuring the consistency with the real environment of an area to be mapped.
Inventors:
FU ZHIGANG (CN)
TAO YONGKANG (CN)
PENG DENG (CN)
NAN ZHIJIE (CN)
DONG BO (CN)
TAO YONGKANG (CN)
PENG DENG (CN)
NAN ZHIJIE (CN)
DONG BO (CN)
Application Number:
PCT/CN2022/131360
Publication Date:
March 14, 2024
Filing Date:
November 11, 2022
Export Citation:
Assignee:
GUANGDONG HUITIAN AEROSPACE TECH CO LTD (CN)
International Classes:
G01C21/00
Domestic Patent References:
| WO2021218620A1 | 2021-11-04 |
Foreign References:
| CN113819914A | 2021-12-21 | |||
| CN108592919A | 2018-09-28 | |||
| CN114910905A | 2022-08-16 | |||
| US20160147634A1 | 2016-05-26 |
Attorney, Agent or Firm:
BEIJING BESTIPR INTELLECTUAL PROPERTY LAW CORPORATION (CN)
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