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A method and device for building an indoor map

An indoor map and construction method technology, applied in the directions of maps/plans/charts, 3D modeling, image data processing, etc. The effect of reducing requirements

Active Publication Date: 2019-06-11
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a method and device for building an indoor map to solve the problems of high requirements on staff ability and heavy labor load in the current process of building an indoor map

Method used

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  • A method and device for building an indoor map
  • A method and device for building an indoor map
  • A method and device for building an indoor map

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0023] figure 1 It is a flow chart of an indoor map construction method provided by Embodiment 1 of the present invention. This embodiment is applicable to constructing an indoor map without building CAD drawings. This method can be executed by an indoor map construction device. The device can be realized by means of hardware and / or software.

[0024] The indoor map construction method specifically includes the following steps:

[0025] S110. Obtain laser point cloud data collected by the laser point cloud device.

[0026] Laser point cloud data refers to the use of lasers to obtain the spatial coordinates of each sampling point on the surface of an object in the same spatial reference system, and what is obtained is a collection of a series of massive points expressing the spatial distribution of the target and the characteristics of the target surface.

[0027] The laser point cloud data is collected by a laser point cloud device, which can be integrated into the backpack ...

Embodiment 2

[0042] image 3 It is a flow chart of an indoor map construction method provided by Embodiment 2 of the present invention. On the basis of Embodiment 1, this embodiment is based on the key frame point cloud data contained in the laser point cloud data, and the laser point The feature is further added before the cloud data is registered: obtain the attitude of the inertial measurement unit collected by the inertial measurement unit, wherein the inertial measurement unit is rigidly connected with the laser point cloud device; according to the attitude of the inertial measurement unit, correct the Laser point cloud data.

[0043] The indoor map construction method provided in this embodiment specifically includes the following steps:

[0044] S110. Obtain laser point cloud data collected by the laser point cloud device.

[0045] S210. Obtain the attitude of the inertial measurement unit collected by the inertial measurement unit, wherein the inertial measurement unit is rigidly...

Embodiment 3

[0055] Figure 4 It is a flow chart of an indoor map construction method provided by Embodiment 3 of the present invention. On the basis of the above-mentioned embodiments, this embodiment will, based on the key frame point cloud data contained in the laser point cloud data, control the laser The point cloud data is registered, and the feature of forming an indoor three-dimensional map according to the registration result is optimized as follows: based on the key frame point cloud data contained in the laser point cloud data, the laser point cloud data is registered; according to the registration Accurate results determine the moving track of the laser point cloud device in the process of collecting the laser point cloud data; determine whether the moving track forms a closed figure, if the moving track forms a closed figure, then use the loopback optimization algorithm to correct The laser point cloud data; combining the corrected laser point cloud data to form an indoor thre...

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Abstract

The invention discloses an indoor map construction method and device. The indoor map construction method includes: obtaining laser point cloud data collected by laser point cloud equipment; based on the key frame point cloud data contained in the laser point cloud data, the The laser point cloud data is registered, and an indoor three-dimensional map is formed according to the registration result; the indoor three-dimensional map is cut to form an indoor map. The indoor map construction method provided by the present invention can solve the problem that a large number of staff with professional drawing ability are required to survey and map the indoor environment in person in the process of constructing an indoor map in the absence of CAD drawings of buildings. The problem of high requirements and a large amount of labor is achieved to reduce the requirements for the ability of the staff, reduce the workload of the staff, and improve the accuracy of the constructed indoor map.

Description

technical field [0001] Embodiments of the present invention relate to map construction technology, and in particular, to an indoor map construction method and device. Background technique [0002] With the rapid development of computer technology, wireless positioning technology, earth information system and mobile Internet technology, location-based services have become a reality and have been widely used in practice. In indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines, etc., it is often necessary to determine the location information of mobile terminals or their holders, facilities and objects indoors, and provide corresponding Additional indoor location-based application services such as navigation, search queries, etc. However, due to the huge number of indoor buildings and the complex and changeable indoor environment, such as supermarkets and periodic changes in the decoration layout of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G09B29/00G06T17/00
CPCG06T17/00G09B29/004G09B29/005G06T2200/04G01C21/383G01C21/3811G01C21/3848
Inventor 种道晨周煜远张宇智刘玉亭
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD