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Three-dimensional scene graph generation method and device and robot

A three-dimensional scene and robot technology, applied in the computer field, can solve the problem of low accuracy of three-dimensional scene graph, and achieve the effect of improving the accuracy

Pending Publication Date: 2019-11-05
TSINGHUA UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on this, it is necessary to provide a method, device, robot and storage medium for generating a 3D scene graph in view of the problem that traditional methods usually cause low accuracy in generating a 3D scene graph

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  • Three-dimensional scene graph generation method and device and robot
  • Three-dimensional scene graph generation method and device and robot
  • Three-dimensional scene graph generation method and device and robot

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Embodiment Construction

[0045] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0046] figure 1 It is an application scene graph of a method for generating a three-dimensional scene graph in an embodiment. refer to figure 1 , the application scenario includes the robot 110 and the terminal 120. The robot 110 and the terminal 120 are connected via a network. A depth camera and a radar sensor are installed in the robot 110. The depth camera is used to collect depth image data in a three-dimensional scene, and the radar sensor is used to collect radar data in a three-dimensional scene. The radar sensor may be a lidar sensor. The terminal 120 may specifically be a desktop term...

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Abstract

The invention relates to a three-dimensional scene graph generation method, a three-dimensional scene graph generation device and a robot. The method comprises the steps of acquiring a depth image frame sequence and a radar data frame sequence of a three-dimensional scene; synchronizing the depth image frame sequence and the radar data frame sequence to obtain a synchronous data frame sequence; determining relative pose data between adjacent synchronous data frames in the synchronous data frame sequence; creating a plurality of three-dimensional sub-scenes according to the synchronous data frame sequence and the relative pose data; and fusing the plurality of three-dimensional sub-scenes into a three-dimensional scene graph. According to the scheme, the accuracy of determining the pose data of the synchronous data frame is improved according to the image color data, the image depth data and the radar data of the three-dimensional scene in the synchronous data frame.

Description

technical field [0001] The invention relates to the field of computer technology, in particular to a method, device and robot for generating a three-dimensional scene graph. Background technique [0002] With the rapid development of computing technology, image processing technology has also accelerated the pace of development. In the technical field of image processing, it is sometimes necessary to collect scene data, and generate a three-dimensional scene graph according to the collected scene data. [0003] However, in the process of generating a traditional 3D scene graph, it is necessary to ensure that there are relatively large overlapping parts in the collected adjacent images, and the adjacent images are fused according to the overlapping parts to generate a 3D scene graph. If the overlapping portion of two adjacent images is small, it is difficult to accurately fuse the adjacent images, which will result in a low accuracy rate of generating a 3D scene graph. Cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/00G05D1/02G01S17/02
CPCG05D1/0257G05D1/0285G05D1/0251G06T17/00G06T2200/08
Inventor 胡事民杨晟李北辰穆太江解洪文柴晓杰张明远刘荐陈波
Owner TSINGHUA UNIV