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Method and device of reconstructing three-dimensional scene, equipment and computer-readable storage medium

A 3D scene and 3D reconstruction technology, applied in the field of point cloud data processing, can solve problems such as system failure

Active Publication Date: 2018-11-06
BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in scenarios such as urban high-rise buildings and tunnels, the lack of GNSS signals makes such systems unable to operate normally

Method used

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  • Method and device of reconstructing three-dimensional scene, equipment and computer-readable storage medium
  • Method and device of reconstructing three-dimensional scene, equipment and computer-readable storage medium
  • Method and device of reconstructing three-dimensional scene, equipment and computer-readable storage medium

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Embodiment Construction

[0016] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein; A more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only, and are not intended to limit the protection scope of the present disclosure.

[0017] As mentioned above, in the field of unmanned driving, the existing mapping methods mainly rely on the high-precision global positioning results provided by the global satellite navigation system (GNSS) / inertial navigation system (SINS) integrated navigation system. Building maps, the system does provide centimeter-level accuracy in places like empt...

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Abstract

The embodiment of the disclosure relates to a method and a device of reconstructing a three-dimensional scene, equipment and a computer-readable storage medium. The method used for reconstructing thethree-dimensional scene includes: acquiring a point cloud data frame set for the three-dimensional scene, wherein point cloud data frames in the point cloud data frame set respectively have pose parameters; determining a subset, which corresponds to a portion of the three-dimensional scene, from the point cloud data frame set; adjusting pose parameters of point cloud data frames in the subset to obtain an adjusted subset, wherein the adjusted subset includes at least two point cloud data frames with matching overlapping portions; and using the adjusted subset to update the point cloud data frame set. In a manner thereof, distributed processing on a large amount of point cloud data can be realized to improve computational efficiency.

Description

technical field [0001] Embodiments of the present disclosure generally relate to the processing of point cloud data, and more particularly, relate to methods, apparatuses, devices and computer-readable storage media for reconstructing three-dimensional scenes. Background technique [0002] High-precision maps are an important part of unmanned driving technology. They are the basis for path planning and decision-making control of unmanned vehicles, and also provide core data for high-precision vehicle self-positioning. High-precision scene reconstruction based on vehicle-mounted lidar is a prerequisite for high-precision map production. In an environment with good global satellite navigation system (GNSS, such as Global Positioning System GPS) signals, accurate radar can be obtained through differential GPS / inertial navigation systems. According to the pose, the obtained point cloud data is projected into the world coordinate system according to the radar pose, and a high-pre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/593
CPCG06T7/593G06T2207/10028G06T2207/30252G06T2207/20072G06T2207/10016G06T2207/30184G06T7/38G06T17/00G06T2210/56G06T15/04G06T2200/04
Inventor 余丽宋适宇
Owner BAIDU ONLINE NETWORK TECH (BEIJIBG) CO LTD