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A sliding map update method and device

A map update and map technology, which is applied to road network navigators and other directions, can solve the problems of sliding map shrinkage and difficulty in screening effective areas of sliding maps, and achieve the effect of ensuring effectiveness, simplification and consistency

Active Publication Date: 2021-08-24
HANGZHOU HIKVISION DIGITAL TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present application provides a method and device for updating a sliding map to solve the problems of difficulty in screening the effective area of ​​the sliding map and shrinking of the sliding map that may exist during the updating process of the sliding map

Method used

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  • A sliding map update method and device
  • A sliding map update method and device
  • A sliding map update method and device

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Embodiment Construction

[0025] If the lidar odometer is implemented by matching the observed point cloud features with the map maintained by the odometer to obtain the motion estimation of the lidar, where the map maintained by the lidar odometer can be a global map or a sliding map, then, When calculating the motion estimation of the lidar based on the newly observed point cloud features, due to the limitation of the observation range and viewing angle of the lidar, only some areas in the global map can provide the reference information required for motion estimation, that is, there are quite a few areas in the global map. redundant information. Compared with the use of the global map, the LiDAR odometer based on the sliding map has smaller and more stable calculation and storage capacity, less accuracy loss, and can reduce or avoid the inconsistency of map features. It is a more superior implementation.

[0026] The sliding map maintained by the lidar odometer is a limited map that slides on the gl...

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Abstract

The embodiment of the present application provides a method and device for updating a sliding map. In the embodiment of the present application, by adding the dimension information of "cumulative distance dimension" to the feature of the point cloud, and updating the sliding map according to the "cumulative distance dimension", the sliding map can be retained. The point cloud features near the recently observed area in the map ensure the validity of the point cloud features in the sliding map; and the redundant point cloud features in the sliding map that have not been observed for a long time can be deleted to ensure the simplicity of the sliding map and consistency. Furthermore, since the sliding map update method provided by the embodiment of the present application is essentially an update method based on spatial distance, it can ensure that the long-term motion of the lidar will not cause the sliding map to shrink to the current observation range.

Description

technical field [0001] The present application relates to the technical field of machine vision, in particular to a method and device for updating a sliding map. Background technique [0002] Lidar odometry is an algorithm that uses a feature matching algorithm to obtain the motion estimation of LiDAR from continuous LiDAR observation data (that is, the observed point cloud features). The so-called motion estimation refers to the distance between two adjacent moments. relative pose. In order to obtain accurate real-time motion estimation of lidar, a common implementation method of lidar odometer is: maintain a map, and compare the observed point cloud features with the point cloud features in the map during the movement of the lidar Match (Scan to Map), find the difference between them, and then get the motion estimation of the lidar. In the implementation method of this lidar odometer, the way the lidar odometer maintains the map has a great impact on performance. [000...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 吕吉鑫孙杰
Owner HANGZHOU HIKVISION DIGITAL TECH
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