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Map generation method and device, robot and computer-readable storage medium

A technology for map generation and storage media, applied in computing, instruments, image enhancement, etc., can solve the problems of large storage requirements and time-consuming positioning, and achieve the effects of reducing storage space, robust positioning results, and reducing time-consuming positioning

Active Publication Date: 2018-12-11
BEIJING SANKUAI ONLINE TECH CO LTD
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Problems solved by technology

[0004] However, the use of 3D point clouds to describe spatial maps has the problems of large storage requirements and excessive positioning time

Method used

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  • Map generation method and device, robot and computer-readable storage medium
  • Map generation method and device, robot and computer-readable storage medium
  • Map generation method and device, robot and computer-readable storage medium

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Embodiment Construction

[0040] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.

[0041] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term...

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Abstract

A map generation method and device, a robot, and a computer-readable storage medium are provided. The map generation method comprises the following steps: acquiring three-dimensional laser point clouddata; classifying the 3D laser point cloud data according to the spatial attributes of the 3D laser point cloud data, and getting classification results; processing the classification results to generate multiple types of two-dimensional layers, and multiple types of two-dimensional layers constitute the map. According to the embodiment of the application, the three-dimensional laser point clouddata is classified according to the spatial attributes of the acquired three-dimensional laser point cloud data, classification results are obtained and processed to generate multiple types of two-dimensional layers, and the multiple types of two-dimensional layers are utilized to represent three-dimensional maps. The storage space and positioning time can be greatly reduced, and more robust positioning results can be obtained by utilizing the characteristics of different layers.

Description

technical field [0001] The present application relates to the fields of real-time positioning and map creation, and in particular to a map generation method and device, a robot, and a computer-readable storage medium. Background technique [0002] With the development of computer technology and artificial intelligence, intelligent mobile robots have become an important research direction and research hotspot in the field of robotics. Localization and map creation of mobile robots are hot research issues in the field of mobile robotics. [0003] At present, the laser sensor can be used to measure the environmental data around the object, and the measured environmental data can be used for real-time positioning and map creation (Simultaneous localization and mapping, SLAM for short) calculation to construct a map. Currently, spatial maps can be described using three-dimensional (3D) point clouds. [0004] However, the use of 3D point clouds to describe spatial maps has the p...

Claims

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Application Information

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IPC IPC(8): G06F17/30G06T7/11G06T3/00
CPCG06T7/11G06T2207/10028G06T3/067
Inventor 申浩郝立良程保山
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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