Topological map generation method based on visual fusion landmarks

Abstract

The invention discloses a topological map generation method based on a visual fusion landmarks, and the method comprises the steps: inputting an RGB image, carrying out the semantic segmentation of the RGB image based on a convolutional neural network, and extracting a point with an output value greater than a preset value as a feature point according to a feature map of a semantic segmentation intermediate layer; obtaining a depth map of a scene, based on the depth information of the depth map and the two-dimensional coordinate information of the feature points on the image, acquiring the three-dimensional coordinates of the feature points and the pose information of the robot according to a camera model to establish a three-dimensional map of the scene, performing texture segmentation based on deep learning on the input image, and acquiring codes of each pixel point in a texture feature space; obtaining a membership degree distribution function of the point cloud relative to a predetermined landmark by adopting a landmark level data fusion method based on fuzzy mathematics, and obtaining a three-dimensional semantic map fused with the landmark according to the semantic membershipdegree distribution function and the three-dimensional map; and constructing a topological map based on the three-dimensional semantic map of the fused landmark to generate a semantic topological mapof the fused landmark.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a method for generating topological maps based on visually fused landmarks. Background technique [0002] Mapping technology is crucial for intelligent robots to explore the task environment and complete various tasks autonomously. In the process of movement, intelligent robots collect environmental information through sensors, analyze data, and perceive the environment, which helps to make corresponding decisions autonomously according to the needs of the task and the current state of the environment, and then complete various tasks to achieve a true sense of reality. intelligent. In the field of robotics, SLAM (simultaneous positioning and composition) technology is a key technology for robots to build maps and perceive the environment. During the process of traveling, the robot uses sensor data such as lidar and camera to estimate the position and attitude at this time, and b...

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problems existing in the prior art, the present invention proposes a topological map generation method based on visually fused landmarks, which can run on embedded airborne or vehicle-mounted platforms. The 3D map constructed in the field does not contain semantic information, and at the same time solves the problem that the pixel-level semantic information fused in the visual SLAM system is easily affected by lighting and other conditions, and cannot realize language-based human-computer interaction

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