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A road scene-oriented 3D semantic map construction and storage method

A semantic map and three-dimensional technology, which is applied in the construction and storage of three-dimensional semantic maps for road scenes, can solve the problems of large loads and massive calculations in vehicle systems, reduce occupation, meet the needs of rapid construction and storage, and optimize map updates way effect

Active Publication Date: 2021-11-26
SOUTHEAST UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in terms of road 3D map construction, how to use cameras for map construction is still relatively small, and because building 3D maps often requires a lot of computing and storage space, the load is too large for general vehicle systems

Method used

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  • A road scene-oriented 3D semantic map construction and storage method
  • A road scene-oriented 3D semantic map construction and storage method
  • A road scene-oriented 3D semantic map construction and storage method

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings and specific examples.

[0023] figure 1 It is a schematic diagram of the implementation process of the present invention, and the specific steps are shown by reference numerals 101-106.

[0024] Use the on-board camera to directly shoot the road scene video during driving, and use the visual synchronization positioning and composition technology, that is, VSLAM, to complete the camera pose estimation and key frame capture, and perform image pixel depth estimation on the key frame, such as figure 2 As shown; 3D map reconstruction can be realized by using the obtained key frames and image depth estimation. For the key frame acquired at a certain time t, using the trained two-dimensional semantic segmentation model based on deep convolutional neural network, the original color image of the current key frame is used as input to infer its image semantic information, that is...

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Abstract

The invention discloses a road scene-oriented three-dimensional semantic map construction and storage method, the steps are as follows: the sensor collects road condition video data during the movement process, uses synchronous positioning and composition technology to obtain key frames, calculates pose and inverse depth map, constructs Semi-dense point cloud map; use the semantic segmentation model to extract semantic tags from the acquired key frames; use 2D to 3D space semantic tag conversion to fuse the semantic tag data of continuous key frames, and correct the 3D point cloud semantic tags; according to The acquired 3D semantic point cloud map represents the 3D semantic point cloud data as a 3D map based on occupancy probability and semantic information. The present invention utilizes the camera for three-dimensional semantic composition, including the distribution of various road target scenes; utilizes the vehicle-mounted system to rapidly construct three-dimensional semantic information of the road to meet the demand for real-time storage; utilizes map compression technology, compared with the original large-volume three-dimensional map storage requirements , occupying only a small amount of storage space.

Description

technical field [0001] The invention relates to the application of road information collection and three-dimensional modeling methods in the technical field of vehicles, in particular to a fast three-dimensional semantic composition method and an efficient storage method for road scenes. Background technique [0002] With the development of information sensing and computer vision technology, it has become an increasingly important research and development requirement to collect road scene data for map construction and use it for assisted driving and driverless applications. [0003] Because the cost of the camera is relatively low and the installation is convenient, the vehicle-mounted system with the camera as the core sensor has a wide range of applications. However, in terms of road three-dimensional map construction, how to use cameras for map construction is still relatively small, and because building three-dimensional maps often requires a lot of computing and storage...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06K9/00G06T7/55
CPCG06T7/55G06T2207/10024G06T2207/10016G06T2207/10028G06T2207/20016G06T2207/20081G06T2207/20084G06T2207/30252G06V20/10
Inventor 李煊鹏敖焕轩李宇杰薛启凡
Owner SOUTHEAST UNIV
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