公开(公告)号：US20230273031A1

公开(公告)日：2023-08-31

申请号：US17924510

申请日：2021-06-21

Applicant: JINGDONG TECHNOLOGY INFORMATION TECHNOLOGY CO., LTD.

Inventor： Xiaolong CAI ,  Chao WANG ,  Xiujun YAO ,  Chenguang GUI ,  Yucheng CAI ,  Fuqiang MA ,  Zhen LI ,  Xinran GUO ,  Lihua CUI

IPC: G01C21/34 ,  G05D1/02

CPC classification number: G01C21/3446 ,  G05D1/0214 ,  G05D1/0217

Abstract: Disclosed are a path planning method and a device, a robot and a storage medium. The method includes: grading a traversable region between a starting point and an end point in a grid map, and determining cost values corresponding to regions of each level; traversing the traversable region from the starting point based on the cost values of the regions of each level, and determining a plurality of target nodes conforming to a minimum value of a preset function; and determining a target path of a robot based on the plurality of target nodes.

公开(公告)号：US20230266470A1

公开(公告)日：2023-08-24

申请号：US18005362

申请日：2021-06-08

Applicant: JINGDONG TECHNOLOGY INFORMATION TECHNOLOGY CO., LTD.

Inventor： Xiujun YAO ,  Fuqiang MA ,  Chao WANG ,  Chenguang GUI ,  Lihua CUI

IPC: G01S17/89 ,  G06V10/44 ,  G01S17/58

CPC classification number: G01S17/89 ,  G06V10/443 ,  G01S17/58

Abstract: A robot relocalization method and apparatus, and a storage medium and an electronic device. The method comprises: performing feature coding on local visual features of image data to obtain image vector features, and searching, in a pre-set key frame database, for the image vector features subjected to dimension reduction processing, so as to obtain a plurality of search results (S120); solving the pose of a robot according to each search result, so as to obtain a first pose initial value, and performing matching on laser point cloud data in a pre-set two-dimensional grid map according to speed data and displacement data, so as to obtain a first matching result (S130); and generating a second matching result according to the first pose initial value and the first matching result, and performing robot relocalization according to a second pose initial value, the first matching result and the second matching result.

公开(公告)号：US20240118419A1

公开(公告)日：2024-04-11

申请号：US18257754

申请日：2021-12-17

Applicant: JINGDONG TECHNOLOGY INFORMATION TECHNOLOGY CO., LTD.

Inventor： Xiujun YAO ,  Chenguang GUI ,  Jiannan CHEN ,  Fuqiang MA ,  Chao WANG ,  Lihua CUI ,  Feng WANG

IPC: G01S17/86 ,  G01S17/89 ,  G06F16/29 ,  G06T7/73

CPC classification number: G01S17/86 ,  G01S17/89 ,  G06F16/29 ,  G06T7/74 ,  G06T2207/30241

Abstract: The present disclosure relates to a localization method and apparatus, and a computer apparatus and a computer-readable storage medium. The localization method includes performing radar mapping and visual mapping by respectively using a radar and a vision sensor, wherein a step of the vision mapping includes determining a pose of a key frame; and combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping.