Pose determination method, robot using the same, and computer readable storage medium

A robot, comprising:

• a processor;
• a memory coupled to the processor;
• and
• one or more computer programs stored in the memory and executable on the processor;
• wherein, the one or more computer programs comprise:
• instructions for obtaining a two-dimensional code image collected by the camera of the robot and sensor data collected by the sensor of the robot, and determining mileage information of the robot within a predetermined duration, wherein the sensor data includes an acceleration and an angular velocity, and wherein the two-dimensional code image is an image including at least one two-dimensional code;
• instructions for calculating a first pose of the camera based on two-dimensional code information recognized from the two-dimensional code image, and determining a second pose of the sensor based on the sensor data;
• instructions for obtaining a third pose by performing a tight coupling optimization based on the first pose and the second pose;
• and
• instructions for obtaining the pose of the robot by fusing the third pose and the mileage information.

A non-transitory computer readable storage medium for storing one or more computer programs, wherein the one or more computer programs comprise;

• instructions for obtaining a two-dimensional code image collected by the camera of the robot and sensor data collected by the sensor of the robot, and determining mileage information of the robot within a predetermined duration, wherein the sensor data includes an acceleration and an angular velocity, and wherein the two-dimensional code image is an image including at least one two-dimensional code;
• instructions for calculating a first pose of the camera based on two-dimensional code information recognized from the two-dimensional code image, and determining a second pose of the sensor based on the sensor data;
• instructions for obtaining a third pose by performing a tight coupling optimization based on the first pose and the second pose;
• and
• instructions for obtaining the pose of the robot by fusing the third pose and the mileage information.