Method and system for creating a three-dimensional map

Abstract

The present invention discloses a three-dimensional map creation method and system. The method includes the following steps that: original feature points of which the Euclidean distances are greater than or equal to a distance threshold value are selected from an RGB image Is and are arranged into a set Fs; corresponding feature points in an RGB image It which are matched with the original feature points are arranged in to a set Ft; the feature points in the Fs and the Ft are projected into a three-dimensional space camera coordinate system with an RGB-D camera adopted as an original point, so that three-dimensional points can be obtained, the obtained three-dimensional points are arranged into a registration point set Ps and a registration point set Pt; a rigid transformation matrix Tt,s between the registration point set Ps and the registration point set Pt is calculated according to a formula described in the descriptions of the invention; the attitude of the camera is obtained according to the rigid transformation matrix Tt,s; and a three-dimensional map is created according to the rigid transformation matrix Tt,s and the attitude of the camera. According to the method and system of the invention, the feature points are discretely selected with the Euclidean distances between the feature points adopted as threshold values, and therefore, the problem of influence on registration precision caused by a condition that an algorithm falls into local optimum which is further caused by excessively high density of selected feature points can be effectively solved, and registration precision can be improved.

Description

technical field [0001] The invention relates to the technical field of image processing, in particular to a method and system for creating a three-dimensional map. Background technique [0002] SLAM (Simultaneous Localization And Mapping, simultaneous positioning and map creation) is an important task for mobile robots. With the development and progress of sensor technology, researchers have proposed map creation methods based on various sensors, and 3D maps contain more valuable shape information and environmental information than 2D maps. Therefore, with the advent of RGB-D cameras represented by Kinect, 3D map creation based on RGB-D cameras has gradually become a research hotspot in recent years. [0003] In order to obtain complete 3D map information, the problem that needs to be solved is how to register the data obtained by the camera from different perspectives into the same coordinate system through coordinate transformation, and the process of solving the coordina...

AI Technical Summary

Problems solved by technology

[0005] By providing a method and system for creating a three-dimensional map, the present invention solves the technical problem that the algorithm in the prior art tends to fall into local optimum, and realizes the technical effect of improving the registration accuracy

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