Construction method and device of three-dimensional map, robot and readable storage medium

Abstract

The invention provides a construction method and device of a three-dimensional map, a robot and a readable storage medium. The construction method and device are used for improving the spatial consistency of the three-dimensional map in the aspect of semantic information. The method comprises the steps that a construction device receives a construction request initiated by UE, and the constructionrequest is used for requesting to construct a three-dimensional map of a target scene; the construction device obtains map collection information of the target scene, wherein the map collection information comprises an RGB image, three-dimensional point cloud information and a depth image of the target scene; the construction device carries out super-pixel grouping on the RGB image through an SLIC algorithm to obtain a super-pixel image; the construction device converts the three-dimensional point cloud information into a three-dimensional grid image; the construction device performs semanticsegmentation on the RGB image and the depth image through a coding and decoding type semantic segmentation model to obtain a semantic image; and the construction device fuses the three-dimensional grid image, the super-pixel image and the semantic image to obtain a three-dimensional map of the target scene.

Description

Technical field [0001] This application relates to the field of augmented reality technology, and in particular to a method for constructing a three-dimensional map, a constructing device, a robot, and a readable storage medium. Background technique [0002] Augmented Reality (AR) technology is a technology that increases the user’s perception of the real world through the information provided by the computer system, and superimposes computer-generated virtual objects, scenes, or system prompt information into the real scene, thereby realizing the reality. Enhance". At the same time, since the connection with the real world has not been cut off, the way of interaction becomes more natural. [0003] In the application of AR technology, it is inseparable from the three-dimensional (Three-Dimensions, 3D) map established on the basis of the real scene. The establishment of the three-dimensional map is of great significance for the self-service navigation and intelligent interaction of...

AI Technical Summary

Problems solved by technology

[0005] However, in practical applications, it is found that the existing 3D maps with semantic information are often discontinuous in spatial distribution, which is likely to cause false detection in robot interaction.

Images