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Method for generating semantic grid map and device thereof

A grid map and semantic technology, applied in the field of mobile robots, can solve the problems of unable to provide reliable road signs, unable to express environmental objects, unable to remove dynamic object noise, etc., to achieve the effect of increasing understanding

Active Publication Date: 2018-11-30
GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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Problems solved by technology

[0007] In order to solve the technical problems of the above-mentioned ordinary grid map that cannot express the actual environmental objects, cannot remove the noise caused by dynamic objects, and cannot provide reliable road signs, the embodiment of the present invention proposes a semantic grid map generation method and its device

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  • Method for generating semantic grid map and device thereof
  • Method for generating semantic grid map and device thereof
  • Method for generating semantic grid map and device thereof

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Embodiment Construction

[0061] In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail in conjunction with specific embodiments and with reference to the accompanying drawings. However, those skilled in the art know that the present invention is not limited to the drawings and the following embodiments.

[0062] The embodiment of the present invention provides a method for generating a semantic grid map, such as figure 1 As shown, the method includes the following steps:

[0063] Step S11, acquiring image data of the environment through a vision sensor, and acquiring 2D scan data of the environment through a lidar sensor;

[0064] Step S12, fusing the acquired image data and 2D scan data to generate semantic scan data;

[0065] Step S13, fusing the generated semantic scan data with the grid map of the environment to generate a semantic grid map.

[0066] Wherein, the lidar sensor and the vision senso...

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Abstract

The invention relates to a method for generating a semantic grid map and a device thereof, wherein the method comprises the following steps of: acquiring image data of an environment through a visualsensor, acquiring 2D scanning data of the environment through a laser radar sensor; merging the acquired image data and the 2D scanning data to generate semantic scanning data; merging the generated semantic scanning data with the grid map of the environment to generate a semantic grid map. According to the invention, the visual sensor is introduced, the image data is acquired through the visual sensor, and the semantic information is endowed to the 2D scanning data acquired through the laser radar sensor; during the merging process of the map, the dynamic object is removed to reduce the noisepoint, meanwhile, the semantic information is added to the determined grid, the semantic grid map is generated, and reliable road sign information is provided for the composition, positioning and navigation, thereby improving the robustness of the composition and positioning of a mobile robot in the dynamic environment.

Description

Technical field [0001] The invention belongs to the technical field of mobile robots, and particularly relates to a method and a device for generating a semantic grid map. Background technique [0002] Mobile robots, such as mobile robots and aircrafts that move on the ground, have their intelligence mainly reflected in the ability to construct a consistent environment map, robust positioning and navigation functions. The reliability of the environment map and the amount of information contained are the key prerequisites for the positioning and navigation of mobile robots. A grid map is an environment map made by dividing the environment into a series of grids. Each grid is given a possible value, which indicates the probability that the grid is occupied. A set of grids can be used to describe environmental elements. The value of the grid represents a real environmental element or part of the environmental element. Such as figure 1 As shown, each pixel in the figure corresponds...

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Application Information

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IPC IPC(8): G06F17/30G06K9/62G06K9/72G01C21/32
CPCG01C21/32G06V30/274G06F18/23
Inventor 陈明建
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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