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A Method of Constructing Raster Map Using Infrared Camera and Depth Camera Fusion

A technology of depth camera and infrared camera, applied in the field of image processing and computer vision, can solve the problems of binocular camera with large influence of illumination and texture, data fusion consumes a lot of resources, and high equipment cost, and achieves the construction of raster map with finer, more accurate, High algorithm efficiency and strong real-time effect

Active Publication Date: 2021-04-20
DALIAN UNIV OF TECH
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  • Application Information

AI Technical Summary

Problems solved by technology

The three sensors have inevitable shortcomings due to their own characteristics. The binocular camera is greatly affected by light and texture, and the range of the depth camera is limited.
However, such a solution has high equipment costs, and the data fusion in the algorithm consumes a lot of resources, and the real-time performance is poor, and it is not suitable for use in a small-scale environment.

Method used

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  • A Method of Constructing Raster Map Using Infrared Camera and Depth Camera Fusion
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  • A Method of Constructing Raster Map Using Infrared Camera and Depth Camera Fusion

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Embodiment Construction

[0027] The present invention proposes a method for constructing a grid map by fusion of an infrared camera and a depth camera. The detailed description is as follows in conjunction with the accompanying drawings and embodiments:

[0028] The overall process is as figure 1 , first the system acquires the depth image obtained by the sensor as shown in Figure 5 and 6 , and then use the registration information for deep fusion, and construct a raster map, and finally display the map visually on the PC. Described method comprises the following steps:

[0029] 1) Sensor registration

[0030] First, the sensor pose registration is performed as figure 2 In the lower part, different poses are captured simultaneously using an infrared camera and a depth camera. Calibration objects at different positions, let the point clouds converted from the depth map be P i and P d , the pose T should make the point Satisfy And the number of point pairs reaches the maximum, and the obtai...

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Abstract

The invention discloses a method for constructing a grid map by fusion of an infrared camera and a depth camera, belonging to the fields of image processing and computer vision. Use rigorous registration strategies to complete sensor registration and improve system efficiency from the hardware level. Use GPU to build a high-performance computing platform, and build a high-performance solution algorithm to build a raster map. The system is easy to build, the program is simple, and it is easy to implement; the infrared camera and the depth camera are used to fuse to build a map, which can be used in low light or at night, and the algorithm is robust and accurate.

Description

technical field [0001] The invention belongs to the fields of image processing and computer vision. Utilize the characteristics of infrared camera and depth camera to make up for each other's defects, making the construction of raster maps more precise and accurate. It is a method for constructing raster maps using multiple sensors. Background technique [0002] In recent years, with the development of artificial intelligence, mobile robots and autonomous vehicles have attracted more and more attention, and one of the main problems that needs to be solved is map construction. Grid map is the most common type of map in unmanned navigation, so how to construct a fast and accurate grid map has become a very important issue in mobile robots and unmanned vehicles. The mainstream method at this stage roughly uses three kinds of sensors, binocular camera, depth camera and radar. Due to their own characteristics, the three sensors have inevitable shortcomings. The binocular camer...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T11/20G06T7/80
CPCG06T11/206G06T7/80
Inventor 仲维李豪杰陈圣伦王智慧罗钟铉刘日升樊鑫
Owner DALIAN UNIV OF TECH