---
publication_id: "OT-2026-000002543"
title: "Method for straightening map"
published_at: "2026-09-15T19:13:44.922256Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002543"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j11/0085"
  - "b25j11/0085"
  - "g05d1/246"
  - "g05d1/246"
  - "b25j11/0085"
  - "b25j11/0085"
---

# Method for straightening map

## Abstract

The present disclosure relates to the technical field of robots, and in particular, discloses a map alignment method. The method includes the following steps: acquiring boundary information of a map, wherein the boundary information includes state information of boundary lines and a total boundary length, and the total boundary length is a sum of lengths of all the boundary lines; classifying all boundary lines that meet a preset condition into one orthogonal line group; determining a relationship between a reference ratio and a determination threshold, if a first relationship is met, establishing a plane Cartesian coordinate system according to a first reference, and if a second relationship is met, establishing a plane Cartesian coordinate system according to a second reference, wherein the reference ratio is a ratio of a maximum boundary line length to the total boundary length, with the boundary line length being defined as a sum of lengths of all boundary lines within one orthogonal line group; and aligning the map according to the plane Cartesian coordinate system, and outputting the boundary information of the aligned map to a user terminal. The method decides the plane Cartesian coordinate system by determining the reference ratio, thus achieving the alignment of the map.