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Cloud-based three-dimensional map generation method, device, equipment and computer-readable storage medium

A three-dimensional map, cloud technology, applied in computing, map/plan/chart, graphics and image conversion, etc., can solve the problems of time-consuming and laborious operation, limited positioning accuracy, etc.

Active Publication Date: 2019-03-15
CLOUDMINDS BEIJING TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Although the above scheme can realize the unification of the indoor real-scene 3D map and the GPS geographic coordinate system, the operation is time-consuming and laborious, and the positioning accuracy is limited

Method used

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  • Cloud-based three-dimensional map generation method, device, equipment and computer-readable storage medium
  • Cloud-based three-dimensional map generation method, device, equipment and computer-readable storage medium
  • Cloud-based three-dimensional map generation method, device, equipment and computer-readable storage medium

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Embodiment 1

[0072] Figure 6 It is a schematic illustration of an embodiment of the method for generating a three-dimensional map based on the cloud provided in the embodiment of the present invention Figure three ,Such as Figure 6 As shown, when building a map of an indoor scene, the 3D acquisition device performs two tasks while acquiring GPS data: one is to use the RGB camera to collect the picture of the current viewing angle and send it to vSLAM (visual Simultaneous Localization And Mapping, real-time positioning based on vision) Based on the map construction) algorithm scans the indoor space feature points and locates the pose data (Rv, Tv) in real time to generate a SLAM map; the second is based on the calculated pose data (Rv, Tv) and the real-time depth collected by the depth camera Information Depth conducts 3D map modeling in the background through fusion, denoising and other operations to generate indoor 3D point cloud data, which is the first point cloud data mentioned abo...

Embodiment 2

[0077] Figure 7 It is a schematic illustration of an embodiment of the method for generating a three-dimensional map based on the cloud provided in the embodiment of the present invention Figure four ,Such as Figure 7 As shown, the indoor 3D mapping and positioning scheme can be laser radar and RGB camera, the difference is only in the type of equipment used for indoor 3D mapping and positioning, and the specific implementation method steps are the same as in the above-mentioned embodiment 1, here No longer.

[0078] The embodiment of the present invention proposes a method for automatically aligning indoor and outdoor 3D high-precision maps. According to the relocation and mapping relationship of visual mapping algorithms such as SLAM, the high-precision 3D point cloud image is rendered to the current viewing angle in real time, achieving high-precision, real-scene digital browsing

[0079] Those skilled in the art should understand that the embodiments of the present i...

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Abstract

An embodiment of the invention provides a cloud-based three-dimensional map generation method, device, equipment and application. The cloud-based three-dimensional map generation method comprises thefollowing steps: acquiring a first point cloud set and a second point cloud set acquired from partial exterior wall contour of the same building; establishing an optimization function of the data according to the preset mapping relation between the coordinate system of the first point cloud set and the coordinate system of the second point cloud set and corresponding points; acquiring the optimalsolution of the mapping relation according to the optimization function; and generating a real-scene three-dimensional map of corresponding part of the building according to the optimal solution and the second point cloud set and the first point cloud set. By adopting the scheme of the invention, unity between an indoor real-scene three-dimensional map and an outdoor GPS geographic coordinate system can be implemented, high-precision fusion of indoor and outdoor three-dimensional maps is realized, and indoor and outdoor real-scene three-dimensional maps with unified indoor and outdoor coordinate systems are generated.

Description

technical field [0001] The invention relates to the technical field of three-dimensional map optimization processing, and can be applied to the field of cloud robots, and can also be applied to the fields of robot, drone obstacle avoidance, and blind guide. In particular, it relates to a method, device, equipment and computer-readable storage medium for generating a cloud-based three-dimensional map. Background technique [0002] At present, outdoor positioning takes GPS (Global Positioning System, Global Positioning System) as an example. It has been relatively mature. Combined with GPS position information and photogrammetry technology, it can reconstruct a 3D model of outdoor real scene with dense point cloud and fine texture, and can Unified with the GPS geographic coordinate system. When GPS is used for indoor positioning, the GPS signal becomes poor due to the occlusion of buildings, resulting in low indoor positioning accuracy, so that it is impossible to integrate t...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T3/40G06T17/00G09B29/00
CPCG06T3/4038G06T17/00G09B29/005
Inventor 林义闽廉士国
Owner CLOUDMINDS BEIJING TECH CO LTD
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