Environment three-dimensional mapping method and apparatus

Abstract

The invention discloses an environment three-dimensional mapping method and apparatus. The method comprises the steps of performing traversal scanning on an environment in which a movable apparatus is located by utilizing a two-dimensional distance measuring sensor to obtain a pose of the movable apparatus in the environment in which the movable apparatus is located; acquiring three-dimensional environment information of the environment in which the movable apparatus is located by utilizing a three-dimension distance measuring sensor; and obtaining a three-dimensional environment map based on relative poses of the three-dimensional distance measuring sensor and the two-dimensional distance measuring sensor, and the pose and the three-dimensional environment information of the movable apparatus in the environment in which the movable apparatus is located. According to the method and the apparatus, the movable apparatus is located by utilizing the two-dimensional distance measuring sensor, locating information serves as three-dimensional initial pose information, and the corresponding three-dimensional environment map is obtained based on the three-dimensional initial pose information and the three-dimensional environment information; and the operations of performing three-dimensional feature extraction and feature matching to finally obtain the three-dimensional environment map in the technical scheme provided in the prior art do not need to be carried out, so that the calculation amount is greatly reduced and the real-time property of mapping is improved.

Description

technical field [0001] The present invention relates to the technical field of mobile robots, and more specifically, to a method and device for three-dimensional environment mapping. Background technique [0002] In order to realize the autonomous navigation and positioning of smart mobile devices, it is necessary to realize the environmental mapping of the environment where the smart mobile devices are located. [0003] Most existing products usually implement environment mapping in two ways. The first is to directly use two-dimensional ranging sensors for environmental mapping, but this cannot obtain three-dimensional information of the environment; the second is to use three-dimensional lidar or image However, this method generally extracts three-dimensional (or image) features first, performs feature matching, and then estimates the transformation matrix. The computational complexity is huge, and the real-time performance of mapping cannot be guaranteed. [0004] To sum...

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Problems solved by technology

[0005] The purpose of the present invention is to provide a method and device for three-dimensional mapping of the environment to solve the problems that the technical solutions for three-dimensional mapping of the environment provided in the prior art have a large amount of computation and cannot guarantee real-time mapping

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