A method for constructing an environmental map and related devices

Abstract

The present application discloses a method for constructing an environment map, including: performing geometric feature extraction processing on a depth image to obtain geometric feature information, and constructing a geometric error model based on the geometric feature information; performing semantic information extraction processing on the depth image to obtain semantic features Information, and construct a semantic error model based on the semantic feature information; construct a total error model based on the geometric error model and the semantic error model; calculate the extreme value of the total error model to obtain the rotation and translation matrix, and perform rotation and translation processing on the depth image according to the rotation and translation matrix. Get the environment map. The rotation and translation matrix is ​​obtained through the extreme value calculation of the geometric error model and the semantic error model, which avoids the situation that the geometric feature information is easily lost during the robot's movement, and improves the accuracy and accuracy of the environment map. The application also discloses an environment map construction device, computer equipment, and computer-readable storage medium, which have the above beneficial effects.

Description

technical field [0001] The present application relates to the field of robot technology, and in particular to a method for constructing an environment map, a constructing device, computer equipment and a computer-readable storage medium. Background technique [0002] With the continuous development of information technology and detection technology, maps from different viewing angles can be extracted in the field of map technology, for example, there can be environmental maps that represent depth, etc. In order to obtain an environmental map, it is usually necessary to obtain spatial environmental information, and the spatial environmental characteristics distributed in space are the core and crucial point of constructing an environmental map. [0003] However, in the process of constructing the environmental map in the prior art, the information in the environmental map may be lost due to the movement of the robot, causing deviations in the information of the environmental ...

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Problems solved by technology

[0003] However, in the process of constructing the environmental map in the prior art, the information in the environmental map may be lost due to the movement of the robot, causing deviations in the information of the environmental map, resulting in inaccurate environmental information, and reducing the accuracy and accuracy of the environmental map. sex

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