Semantic space map construction method and device

A map construction and spatial technology, applied in the field of computer processing, can solve the problems of little value, the inability of users or upper-level tasks to interact with maps, etc., and achieve an easy-to-understand effect

Active Publication Date: 2018-03-23
北京易达图灵科技有限公司
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Problems solved by technology

[0003] The spatial map constructed by the existing technology only contains the spatial information of the feature points and does not contain any...

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  • Semantic space map construction method and device
  • Semantic space map construction method and device

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Embodiment Construction

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0043] figure 1 It is a flowchart of a semantic space map construction method provided by an embodiment of the present invention.

[0044] like figure 1 A semantic space map construction method is shown, including:

[0045] S101. Acquire image data of a plurality of images; the plurality of images are captured by a camera device for a scene to be mapped;

[0046] The multiple images may be captured by a video camera, and then sequence image data in the video ...

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Abstract

The present invention provides a semantic space map construction method and device. The method comprises a step of acquiring image data of a plurality of images, a step of obtaining the position of each feature point, the description information of each feature point, the position and semantic information of each semantic feature according to the images if a condition that feature points and semantic feature points exist in the image data of the images is judged and known, a step of matching the positions of feature points among the multiple images according to the description information of each feature point, obtaining a feature point matching set among the images, matching the positions of the semantic features among the multiple images according to the semantic information of the semantic feature points in each image, and obtaining a semantic feature matching point set among the images, and a step of obtaining three-dimensional space positions corresponding to each feature point and each semantic feature point according to the two matching sets, and constructing a semantic spatial map of a scene of a map to be established on the above basis and the semantic information of eachsemantic feature. According to the method and the device, the semantic spatial map of a spatial map and a semantic map is constructed.

Description

technical field [0001] The invention relates to the technical field of computer processing, in particular to a method and device for constructing a semantic space map. Background technique [0002] In the prior art, a method of motion restoration structure is adopted, and a three-dimensional reconstruction is performed by processing multiple scene images, so as to construct a three-dimensional space map of the environment. The above steps only obtain an initial estimate of the camera pose and the spatial position of the feature points in the scene. To obtain the final accurate solution about the camera pose and the feature point position requires an optimization process. The existing technology Bundle adjustment is mostly used for global optimization. In the beam adjustment process, the camera pose and the spatial position of the feature points are used as the state vector, and the observation value is used as a constraint to construct an objective function on the state vec...

Claims

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Application Information

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IPC IPC(8): G06T7/73G06T17/05
CPCG06T7/74G06T17/05G06T2200/08G06T2207/10016G06T2207/20084
Inventor 刘洋华仁红陈德饶杰
Owner 北京易达图灵科技有限公司
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