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Real-time construction method based on sparse-slam

An algorithm and image pyramid technology, applied in 3D modeling, image analysis, image data processing, etc., can solve the problems of large data volume and application platform dependence, so as to save time, reduce calculation amount, and optimize the mapping process Effect

Active Publication Date: 2018-03-06
NANJING WEIJING SHIKONG INFORMATION TECH CO LTD
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AI Technical Summary

Problems solved by technology

Dense maps are mainly used for 3D reconstruction, navigation, obstacle avoidance, etc., but the amount of data to be processed is large, often requires a lot of calculations, often requires GPU acceleration, and is highly dependent on the application platform

Method used

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  • Real-time construction method based on sparse-slam

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Embodiment Construction

[0025] Such as figure 1 As shown, the real-time mapping method based on sparse-slam disclosed in the present invention includes the following two threads running in parallel:

[0026] Thread 1, track and extract key frames, the specific steps are:

[0027] Step 1.1, constructing an N-layer image pyramid for the input initial frame, and extracting each feature point in the initial frame image pyramid, setting the initial frame KF1 including the initial frame image pyramid and each feature point, considering time and effect, this embodiment where N=4;

[0028] Step 1.2, construct an N-layer image pyramid for the newly input current frame, and extract each feature point in the current frame image pyramid, and then use the SSD algorithm to track each feature point in the initial frame KF1 in the current frame, and the SSD algorithm formula is :

[0029] D=∑((I ki -u k )-(I ci -u c )) 2

[0030] In the formula, I ki Indicates the pixel value of the i-th feature point in t...

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Abstract

The present invention provides a real-time graphing method based on the sparse-slam. The method comprises the following two threads running in parallel: thread 1, tracking and extracting key frames; and thread 2, creating and inserting the point cloud MAP. The real-time construction method of the present invention uses two parallel threads, so that the real-time performance of the two threads canbe ensured, the time is saved, features of the images are reserved as many as possible, and more scene information is retained on the premise that the algorithm is guaranteed to be highly efficient and real-time.

Description

technical field [0001] The invention relates to a real-time mapping method, in particular to a sparse-slam-based real-time mapping method. Background technique [0002] SLAM technology has become known with the popularity of robots, VR, and AR in recent years, and has made different progress in sensors, algorithms, software, and hardware. SLAM (simultaneous localization and mapping) is divided into two major functions, positioning and mapping. It mainly solves the problem that when a device (such as a robot, VR device, etc.) comes to a completely unfamiliar environment, it needs to accurately establish the corresponding relationship between time and space, and can perfectly answer the following series of questions: Where was I just now, where are you now? What did I see, and how is it different from what I saw before? What is my past walking trajectory? What does the world I see now look like, and how has it changed from the past? Is my trajectory shaking, is my positio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06T7/33G06K9/00G06K9/46
Inventor 潘铭星冯向文孙健杨佩星付俊国雷青
Owner NANJING WEIJING SHIKONG INFORMATION TECH CO LTD
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