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Mapping method and device based on semantic SLAM and electronic equipment

A semantic and semantic information technology, applied in the field of mobile devices, to achieve the effect of avoiding errors

Active Publication Date: 2020-02-28
SHENZHEN HORIZON ROBOTICS TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, due to factors such as uneven light sources, reflections from objects, and changes in camera exposure time, the assumption of constant luminosity in the direct method is often not valid.

Method used

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  • Mapping method and device based on semantic SLAM and electronic equipment
  • Mapping method and device based on semantic SLAM and electronic equipment
  • Mapping method and device based on semantic SLAM and electronic equipment

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Embodiment Construction

[0031] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0032] Application overview

[0033] As mentioned above, SLAM has played an increasing role in the construction of high-precision maps. Traditionally, according to whether feature points are used, SLAM can be divided into feature point method and direct method. The former needs to optimize the camera pose and feature point coordinates by matching feature points and minimizing reprojection errors. The latter is based on the assumption that the luminosity is constant, that is, the same spatial point has the same pixel luminosity value in consecutive frame i...

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Abstract

The invention discloses a mapping method and a device based on semantic SLAM and electronic equipment. According to one embodiment, the semantic SLAM-based mapping method can comprise the steps of obtaining a current frame image through a camera; processing the current frame image by using a semantic segmentation algorithm to obtain semantic information of the current frame image; optimizing a camera pose corresponding to the current frame by using a reference frame in a mode of minimizing a reconstruction semantic error; and, based on the optimized camera pose, determining depth information of an immature point without depth information on the reference frame and a corresponding point on the current frame, so as to form a mature point with depth information. Therefore, the camera pose corresponding to the image frame can be optimized based on the semantic information, so that the accurate map point cloud can be obtained more stably.

Description

technical field [0001] The present application relates to the field of image processing, and more specifically, to a semantic SLAM-based mapping method and device, an electronic device, and a mobile device including the electronic device. Background technique [0002] As an important part of unmanned driving technology, high-precision maps are crucial to vehicle navigation, positioning, control, and safety guarantees. Therefore, a low-cost, easy-to-update high-precision map construction method is required. [0003] In recent years, with the improvement of the accuracy of hard algorithms and the improvement of hardware computing power, in order to obtain dense or semi-dense maps, SLAM (Simultaneous localization and mapping) has achieved great success in building high-precision maps. scale applications. Generally speaking, according to whether feature points are used, SLAM mapping methods can be roughly divided into feature point methods and direct methods. The feature poin...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/55
CPCG06T7/55G06T2207/10016G06T2207/10028G06T2207/30252
Inventor 杨帅
Owner SHENZHEN HORIZON ROBOTICS TECH CO LTD
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