{
  "abstract": "A robot positioning method includes: collecting, by a robot, data of laser points by using a laser sensor; obtaining multiple layers of grid maps layer by layer in order from low resolution to high resolution; traversing candidate solutions in a current layer of grid map; controlling a plurality of occupancy probability values obtained correspondingly for the data of laser points at a currently traversed candidate solution to be sequentially summed when the robot determines that the currently traversed candidate solution is a feasible solution; setting, based on a ratio of a resolution of a next layer of grid map to a resolution of the current layer of grid map, the determined feasible solution as a candidate solution of the next layer of grid map; recursively determining feasible solutions in candidate solutions of the layers of grid map in the order from low resolution to high resolution.",
  "assignees": [
    "AMICRO SEMICONDUCTOR CO LTD"
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  "authors": [
    "HE ZAISHENG",
    "HUANG LIYING",
    "LAI QINWEI",
    "WANG YUELIN",
    "XIAO GANGJUN",
    "XU DENGKE"
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  "title": "Robot positioning method based on multiple layers of grid maps, and chip and laser robot",
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