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Indoor point cloud map generation system and indoor point cloud map generation method based on three-dimensional laser

A 3D laser and map generation technology, applied in the direction of measuring devices, instruments, surveying and navigation, etc., can solve the problems of poor visual map stability, inability to know the accurate 3D structure of the surrounding environment, and failure to work, etc., to achieve good scalability and The effect of stability

Inactive Publication Date: 2018-05-29
广州映博智能科技有限公司
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Problems solved by technology

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art, especially to solve the problem that the existing two-dimensional point cloud map and camera visual map have poor stability, cannot know the accurate three-dimensional structure of the surrounding environment, and cannot work when the environmental light source changes

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  • Indoor point cloud map generation system and indoor point cloud map generation method based on three-dimensional laser
  • Indoor point cloud map generation system and indoor point cloud map generation method based on three-dimensional laser
  • Indoor point cloud map generation system and indoor point cloud map generation method based on three-dimensional laser

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Embodiment Construction

[0014] The present invention will be described in more detail and complete below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

[0015] figure 1 It is a schematic diagram of a three-dimensional laser-based indoor point cloud map generation system according to an embodiment of the present invention.

[0016] refer to figure 1 , the indoor point cloud map generation system based on three-dimensional laser comprises: data collection module 10, collects point cloud data with laser sensor; Data filtering module 20, filters noise point and isolated point with filter; Data registration module 30, adopts The image registration method registers the local point cloud data to form a completed 3D point cloud map; the data segmentation module 40 uses the data segmentation method to segment the 3D point cloud...

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Abstract

The invention discloses an indoor point cloud map generation system and an indoor point cloud map generation method based on three-dimensional laser. The indoor point cloud map generation system basedon three-dimensional laser comprises: a data acquisition module, wherein point cloud data is collected by a laser sensor; a data filtration module, wherein noise points and isolated points are filtered by a wave filter; a data registration module, wherein the local point cloud data is subjected to registration by using an image registration method so as to form a completed 3D point cloud map; anda data partition module, wherein the 3D point cloud map is subjected to partition by using a data partition method to obtain the point cloud collection data of different planes and different objects.According to the technical scheme of the present invention, the discrete point cloud data is converted into the complete three-dimensional point cloud map through filtering, splicing, noise reducing,matching, partition and other operations, such that the accurate indoor environment map with the complete three-dimensional structure is established, the accurate and complete map basis is provided for the subsequent navigation and positioning of the robot, and the good scalability and the good stability are provided.

Description

technical field [0001] The invention relates to indoor map generation technology, in particular to a three-dimensional laser-based indoor point cloud map generation system and method. Background technique [0002] With the improvement of various performances, service robots can complete more and more tasks in people's daily life, such as cleaning, moving objects and so on. In order to complete the task more smoothly, the robot must have a more detailed and accurate perception and understanding of the surrounding environment. [0003] Nowadays, most robots use binocular vision or two-dimensional laser point cloud maps to recognize the environment. Binocular vision is very unstable and will lead to failure in many common situations. However, the two-dimensional map only considers the environmental information of a certain height plane. Obstacles that are too high or too low cannot be avoided, so it cannot be used in complex environments. used in . Compared with traditional ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 陈墩金覃争鸣
Owner 广州映博智能科技有限公司
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