Pose correction apparatus and method thereof

A pose correction method, comprising:

• obtaining pose information associated with a pose of a robot using a point cloud, based at least in part on obtaining the point cloud via a light detection and ranging (LiDAR);
• obtaining a second ground information in which at least a portion of a first ground information indicating a ground is corrected, based at least in part on obtaining the first ground information using the pose information;
• obtaining first gravity information indicating at least gravity acting on the robot, based at least in part on obtaining, by an inertial measurement sensor, at least one or more of:
• acceleration of the robot, or an angular velocity of the robot;
• and
• updating the pose information, based at least in part on correcting one or more of:
• the second ground information, or the first gravity information, with respect to one or more of:
• a vector constraint, or an elevation constraint.

A non-transitory computer-accessible media storing instructions that, when accessed by a processor, cause the processor to:

• obtain pose information associated with a pose of a robot using a point cloud, based at least in part on obtaining the point cloud by at least a light detection and ranging (LiDAR);
• obtain a second ground information in which at least a portion of a first ground information indicating the ground is corrected, based at least in part on obtaining the first ground information using the pose information;
• obtain first gravity information indicating gravity acting on the robot, based at least in part on obtaining sensor data by an inertial measurement sensor configured to determine at least an acceleration of the robot, or an angular velocity of the robot;
• and
• update the pose information, based at least in part on correcting one or more of:
• the second ground information, or the first gravity information with respect to one or more of:
• a vector constraint, or an elevation constraint.