Reflective mark matching method and laser radar pose correction method

The invention discloses a reflective mark matching method and a laser radar pose correction method. When positioning fails, a pose correction function can be provided according to preposition information. According to the method, an inertial unit, hereinafter referred to as IMU, is introduced to solve the problem of dynamic matching loss caused by rapid rotation of mobile equipment and too far distance of a reflective mark during dynamic matching of the traditional reflective mark, and pose correction can be realized by simply inputting an approximate position when positioning fails. According to the method, the complexity of the algorithm is reduced, the matching success rate is improved, and the stability of a positioning system is improved due to the addition of the IMU. 本发明公开了一种反光标记匹配方法及激光雷达位姿纠正方法，在定位失效时根据前置信息可以提供位姿纠正功能。该方法通过引入了惯性单元，以下简称IMU，来解决传统的反光标记动态匹配时由于移动设备快速转动和反光标记距离过远时所引起的动态匹配丢失的问题，并且在定位失效时可以通过简单的输入大致位置实现位姿的纠正。该方法降低了算法的复杂度，提高了匹配的成功率，并且由于IMU的加入，提高了定位系统的稳定性。