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A Graph-Based Raster Map Segmentation Method

A grid map and map technology, applied in the field of computer vision, can solve problems such as inconsistent segmentation results and corridor inconsistencies, and achieve the effect of accelerating re-estimation and research promotion

Active Publication Date: 2021-01-05
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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AI Technical Summary

Problems solved by technology

[0010] (2) The segmentation results of long and straight corridors by existing methods are inconsistent with the segmentation results of real maps marked manually
[0011] In the above method, there is a situation that the segmentation of the corridor in the segmentation map is inconsistent with the real map, and there is no solution in the prior art that can solve this technical problem well

Method used

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  • A Graph-Based Raster Map Segmentation Method
  • A Graph-Based Raster Map Segmentation Method
  • A Graph-Based Raster Map Segmentation Method

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Embodiment Construction

[0064] In order to facilitate those skilled in the art to understand the technical content of the present invention, the content of the present invention will be further explained below in conjunction with the accompanying drawings.

[0065] The grid map used in the embodiment of the present invention is constructed by the HUSKY A200 robot through the Gmapping algorithm in a real office environment, with a resolution of 0.05m and a free area of ​​about 505m 2 . The robot is equipped with ROS system industrial computer, motion control module, information acquisition module, etc., and is also equipped with LMS151 two-dimensional laser radar, odometer, inertial measurement unit and other sensors. Such as image 3 As shown, in a real office environment, there are a large number of obstacles that make the map contour not have a regular geometric shape. The present invention has carried out many experiments, and verified that the graph-based grid map segmentation algorithm propose...

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Abstract

The invention discloses a graph-based grid map segmentation method. In view of the fact that the corridor segmentation in the existing segmentation map algorithm is inconsistent with the real map, the invention makes full use of the obstacle information in the map constructed in the real environment, from the grid Semantic information obtained from the grid map mainly includes two parts: free region clustering and graph-based region merging; free region clustering is specifically ISODATA combined with the ray-throwing algorithm, so the clustering algorithm can ensure that the clustering results will not The clustering algorithm can effectively eliminate the noise in the map; the graph-based region merging is specifically to effectively use the obstacle information in the map, build and optimize the graph according to the connectivity of the classes, and then merge the classes to obtain a complete corridors and rooms.

Description

technical field [0001] The invention belongs to the field of computer vision, in particular to a map segmentation technology. Background technique [0002] It is self-evident that humans rely on the visual system in the process of understanding the world. Similarly, machines regard computer vision as the basis for recognizing the world. As one of the most important artificial intelligence technologies, computer vision is widely used in robot visual navigation, face recognition, image recognition, driverless and other technologies. In the field of robotics, maps are one of the main tools to help robots describe their environment and precisely locate them. The most common type of map used in robotic autonomous localization and navigation techniques is the grid map. The free areas in the grid map represent the areas that the robot can pass through. Segmenting the free area of ​​the grid map to obtain the area with semantic information is helpful for the robot to establish to...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/11G06K9/62
CPCG06T7/11G06F18/23
Inventor 刘炳锐刘宇左琳张昌华
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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