Method for determining pose of robot, robot and computer-readable storage medium

A robot comprising:

• one or more processors;
• one or more lidars electrically coupled to the one or more processors;
• and
• a memory coupled to the one or more processors, the memory storing programs that, when executed by the one or more processors, cause performance of operations comprising:
• obtaining a first pose of the robot in a map coordinate system;
• determining first positions of laser points corresponding to the one or more lidars in the map coordinate system according to the first pose when the one or more lidars performs laser scanning;
• determining matching scores between the first positions and grids where the first positions are located, according to coordinates of the first positions and mean values of the grids where the first positions are located, wherein the grids are grids in a probability map corresponding to the map coordinate system;
• determining a first confidence level for the first pose based on the matching scores;
• and
• determining a target pose according to the first confidence level;
• wherein determining the target pose according to the first confidence level comprises:
• adjusting the first pose within an adjustment range to obtain second poses:
• determining a second confidence level for each of the second poses;
• and
• determining the target pose based on one of the second poses with a largest one of the second confidence levels.

A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a robot that comprises one or more lidars, cause the at least one processor to perform a method, the method comprising:

• obtaining a first pose of the robot in a map coordinate system;
• determining first positions of laser points corresponding to the lidar in the map coordinate system according to the first pose when the lidar performs laser scanning;
• determining matching scores between the first positions and grids where the first positions are located, according to coordinates of the first positions and mean values of the grids where the first positions are located, wherein the grids are grids in a probability map corresponding to the map coordinate system;
• determining a first confidence level for the first pose based on the matching scores;
• and
• determining a target pose according to the first confidence level;
• wherein determining the target pose according to the first confidence level comprises:
• adjusting the first pose within an adjustment range to obtain second poses;
• determining a second confidence level for each of the second poses;
• and
• determining the target pose based on one of the second poses with a largest one of the second confidence levels.