Collaborative synchronous positioning and map building method and system and interactive system

Abstract

The invention discloses a collaborative synchronous positioning and map building method and system and an interactive system. The method comprises the steps: enabling a cloud server to obtain an initial global map in an initial scene and an initial global constructed three-dimensional model; receiving the information and initialization requests, sent by all mobile terminals, in the initial scene,and initializing the mobile terminal corresponding to the information in the initial scene according to the information and initial global map in the initial scene; receiving a new local key frame sent by each mobile terminal, updating the initial global map and the initial global constructed three-dimensional model, so as to obtain an extended global map and an extended global constructed three-dimensional model; updating the posture information of the mobile terminal corresponding to the local key frame according to the extended global map, the extended global constructed three-dimensional model and the new local key frame, so as to complete the synchronous positioning and map reconstruction. The method can achieve the cooperative work of all mobile terminals, and is very high in real-time performance, stability and robustness of a system.

Description

technical field [0001] The present invention relates to the technical field of synchronous positioning and map construction, in particular to a method for collaborative synchronous positioning and map construction, a system for cooperative synchronous positioning and map construction, and an interactive system for cooperative synchronous positioning and map construction. Background technique [0002] At present, Simultaneous Localization and Mapping (SLAM, Simultaneous Localization And Mapping) is a technology that enables mobile devices to automatically create maps in unknown environments and perform self-positioning based on estimates of their own state and maps. With robots, virtual reality (VR, Virtual Reality) and augmented reality (AR, AugmentReality) in recent years [0003] With the rapid development of SLAM technology, more and more attention has been paid to it. SLAM technology itself is not very mature. It has technical difficulties such as high algorithm complex...

AI Technical Summary

Problems solved by technology

This method has the following disadvantages: on the one hand, the method assumes that all cameras observe the same initial scene during initialization, which greatly limits the flexibility of the method and makes initialization very difficult; on the other hand, the same frame of different cameras There are two problems in re-triangulation of 3D positions and tracking feature points. One is that the synchronization of data frames is difficult to achieve. Reflected in map construction, task collaboration between devices cannot be realized

This method has the following deficiencies: on the one hand, the implementation method of the wide-area map referred to in the global positioning method is not clear; at the same time, the method also points out that the client can create a SLAM map independently of the server map of the server, which will also lead to different clients. The coordinate system of the SLAM map is not uniform, and positioning in the wide area cannot be realized; on the other hand, in this method, the server only maintains the key frames, feature points, and descriptions with 3D position information of the wide-area map, and does not Storing the SLAM information of each client makes it impossible to achieve task collaboration between clients, and also only enables collaboration in building maps

Images