Three-dimensional mapping method, device, system, cloud platform, electronic equipment and computer program product
A three-dimensional point cloud and three-dimensional map technology, applied in the fields of systems, devices, computer program products, cloud platforms, and three-dimensional mapping methods, can solve problems such as inability to achieve real-time reconstruction, achieve high-efficiency three-dimensional map reconstruction, and reduce computational complexity degree, the effect of increasing the viewing angle of the map
Inactive Publication Date: 2018-07-27
CLOUDMINDS (SHENZHEN) ROBOTICS SYST CO LTD
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The device captures 360-degree panoramic 3D graphics at different positions through rotation, and stitches the 3D models at different positions into a 3D construction map. This method cannot achieve the effect of real-time reconstruction and requires manual placement of the device in the existing environment
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[0031] In order to make the technical solutions and advantages in the embodiments of the present application clearer, the exemplary embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings. Apparently, the described embodiments are only part of the embodiments of the present application, and Not an exhaustive list of all embodiments. And in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.
[0032] The inventor noticed during the invention that:
[0033] Using three depth cameras to capture 3D scenes from upper, middle, and lower perspectives requires rotation to capture 360-degree panoramic 3D graphics at different positions, and splicing 3D models at different positions into 3D construction maps. This method cannot achieve real-time reconstruction.
[0034] Based on this, this solution provides a 3D mapping method, whic...
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The invention relates to a three-dimensional mapping method, device, system, cloud platform, electronic equipment and computer program product. The method comprises the steps: a single laser radar isutilized to carry out positioning, pose information of the single laser radar under a world coordinate system is obtained, and according to a first pose relation of a single laser radar coordinate system and a reference visual coordinate system, a second pose relation of the reference visual coordinate system and the world coordinate system is obtained; a plurality of visual sensors are used for collecting different angles of multiple three-dimensional point cloud data, the multiple three-dimensional point cloud data is uniform in the reference visual coordinate system, and uniform three-dimensional point cloud data is obtained; according to the second pose relation, the uniform three-dimensional point cloud data is switched to the world coordinate system, and a three-dimensional map reconstructed by the visual sensors is obtained. Vision and laser radar positioning map establishing are combined, a way of laser radar positioning is adopted to improve positioning accuracy, the visual sensors are used for performing three-dimensional reconstruction, so that efficient three-dimensional map reconstruction can be realized.
Description
technical field [0001] The present application relates to the technical field of map reconstruction, in particular to a three-dimensional mapping method, device, system, cloud platform, electronic equipment and computer program products. Background technique [0002] 3D map reconstruction is to process the 3D scene into a mathematical model suitable for computer representation and understanding. It is the basis for the computer to process, operate and analyze the 3D space environment, and it is also the key technology for establishing a virtual reality that expresses the objective world in the computer. [0003] The mobile platform first needs to locate its own location, and then stitch together the 3D map models acquired at different locations to achieve the purpose of real-time 3D mapping. Therefore, real-time localization and 3D scene reconstruction are two key technologies for 3D mapping. Generally speaking, there are two ways of mobile positioning and 3D reconstruction...
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IPC IPC(8): G06T17/00G01S17/06G01C21/16
CPCG06T17/00G01C21/16G01S17/06G06T2200/08
Inventor 高军强廉士国林义闽
Owner CLOUDMINDS (SHENZHEN) ROBOTICS SYST CO LTD