Autonomous mobile machine, controller, and point cloud matching state confirmation method for autonomous mobile machine

A controller, configured to execute a program instruction, to implement the following operations:

• obtaining an original point cloud and a target point cloud, the original point cloud being a real-time point cloud of a current position of the autonomous mobile machine and the target point cloud being a local map or a global map of the current position of the autonomous mobile machine;
• registering the original point cloud and the target point cloud to obtain a Hessian matrix and a transformation matrix between the original point cloud and the target point cloud;
• calculating a matching error between the original point cloud and the target point cloud according to the Hessian matrix and the transformation matrix, wherein calculating a matching error between the original point cloud and the target point cloud according to the Hessian matrix and the transformation matrix comprises:
• transforming the original point cloud into a first point cloud via the transformation matrix;
• and determining normal vectors of points in the first point cloud;
• determining a matching state between the original point cloud and the target point cloud based on a comparison between the matching error and a first threshold range;
• when the matching error falls within the first threshold range, controlling the autonomous mobile machine to continue to execute a current task;
• and
• when the matching error is outside the first threshold range, controlling the autonomous mobile machine to suspend a current task.

A point cloud matching state confirmation method for an autonomous mobile machine, the method comprising:

• obtaining an original point cloud and a target point cloud, the original point cloud being a real-time point cloud of a current position of the autonomous mobile machine and the target point cloud being a local map or a global map of the current position of the autonomous mobile machine;
• registering the original point cloud and the target point cloud to obtain a Hessian matrix and a transformation matrix between the original point cloud and the target point cloud;
• calculating a matching error between the original point cloud and the target point cloud according to the Hessian matrix and the transformation matrix, wherein calculating a matching error between the original point cloud and the target point cloud according to the Hessian matrix and the transformation matrix comprises:
• transforming the original point cloud into a first point cloud via the transformation matrix;
• and determining normal vectors of points in the first point cloud;
• determining a matching state between the original point cloud and the target point cloud based on a comparison between the matching error and a first threshold range;
• when the matching error falls within the first threshold range, controlling the autonomous mobile machine to continue to execute a current task;
• and
• when the matching error is outside the first threshold range, controlling the autonomous mobile machine to suspend a current task.