Robot relocalization method and apparatus and robot using the same

A relocalization apparatus for a robot, comprising:

• a first list calculation module configured to obtain a level feature of an object in a laser map and calculate a pose list corresponding to the level feature of the object, wherein the level feature of the object is an area selected by the user in a rectangular frame in the laser map, and the environment corresponding to the area does not change;
• a distance calculation module configured to obtain an initial position of a relocation of the robot, and calculate a distance between the level feature of the object and the initial position based on the first pose list;
• a second list calculation module configured to match a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, in response to the distance between the level feature of the object and the initial position being smaller than a preset distance threshold;
• a template matching module configured to splice the laser subgraph point cloud into a subgraph, and use the subgraph as a target image and the laser map as a source image to perform a multi-target template matching to obtain a first matching candidate result;
• a result filtering module configured to filter the first matching candidate result based on the second pose list to obtain a second matching candidate result;
• a first relocation module configured to determine a first overlapping area of the second matching candidate result and the subgraph, and match boundary points in the first overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot;
• and
• a second relocation module configured to determine a second overlapping area of the first matching candidate result and the subgraph in response to a distance between the level feature of the object and the initial position being greater than or equal to the distance threshold, and match boundary points in the second overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.

A robot, comprising:

• a lidar;
• a memory;
• a 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 level feature of an object in a laser map and calculating a first pose list corresponding to the level feature of the object, wherein the level feature of the object is an area selected by the user with a rectangular frame in the laser map, and the environment corresponding to the area does not change;
• instructions for obtaining an initial position of a relocation of the robot, and calculating a distance between the level feature of the object and the initial position based on the first pose list;
• instructions for matching a laser subgraph point cloud collected by the robot with the first pose list to obtain a second pose list, in response to the distance between the level feature of the object and the initial position being smaller than a preset distance threshold;
• instructions for splicing the laser subgraph point cloud into a subgraph, and using the subgraph as a target image and the laser map as a source image to perform a multi-target template matching to obtain a first matching candidate result;
• instructions for filtering the first matching candidate result based on the second pose list to obtain a second matching candidate result;
• instructions for determining a first overlapping area of the second matching candidate result and the subgraph, and matching boundary points in the first overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot;
• and
• instructions for determining a second overlapping area of the first matching candidate result and the subgraph in response to a distance between the level feature of the object and the initial position being greater than or equal to the distance threshold, and matching boundary points in the second overlapping area with the laser subgraph point cloud to obtain the result of the relocation of the robot.