公开(公告)号：US20200219000A1

公开(公告)日：2020-07-09

申请号：US16825694

申请日：2020-03-20

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Feng WEN ,  Changliang XUE ,  Yuxin FU

IPC: G06N7/00 ,  G06N20/00 ,  G05D1/00

Abstract: One example method includes obtaining a state vector set, where the state vector set includes at least one of a pose vector of an intelligent device or a landmark characteristic vector of an environment in which the intelligent device is located, determining a first linearized constraint equation, determining a first state vector, marginalizing the first state vector in the first linearized constraint equation to obtain a second linearized constraint equation, determining an objective function based on the second linearized constraint equation, and optimizing the at least one of the at least one pose vector or the at least one landmark characteristic vector based on the objective function to output a track of the intelligent device and a map of the environment in which the intelligent device is located.