Map generating method, device, electronic device and storage medium
A map generation and image technology, applied in the field of data processing, can solve problems such as difficult large-scale applications, low map accuracy, and scene scale drift
Active Publication Date: 2021-04-09
DITU (BEIJING) TECH CO LTD
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[0003] When constructing a map through the above method, the cost of collecting data and maintaining the map is relatively high, and it is difficult to apply it on a large scale. If a monocular camera is used for 3D scene reconstruction, it will be affected by factors such as camera imaging quality and positioning accuracy, resulting in the final The reconstructed scene has scale drift or the reconstructed map has relatively low accuracy
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[0058] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the appended The figures are only for the purpose of illustration and description, and are not used to limit the protection scope of the present application. Additionally, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented in accordance with some embodiments of the application. It should be understood that the operations of the flowcharts may be performed out of order, and steps that have no logical context may be performed in reverse order or concurrently. In addition, those skilled in the art may add one or more other operations t...
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Embodiments of the present application provide a map generation method, apparatus, computer device, and storage medium. The method includes: based on attribute information of feature points included in a reference road image and attribute information of feature points included in a reference road image, determining at least A feature point pair; for each reference road image, according to the three-dimensional position information of the first feature point in the reference road image in the virtual three-dimensional space, the two-dimensional position information of the first feature point in the reference road image in the reference road image and The two-dimensional position information of the second feature point in the reference road image in the reference road image is determined, and the first three-dimensional position information of the second feature point in the reference road image is determined; respectively determined from the reference road image and each reference road image second three-dimensional position information of the ground traffic element in the virtual three-dimensional space; based on the determined first three-dimensional position information and the second three-dimensional position information, a map for the target road is generated.
Description
technical field [0001] The present application relates to the technical field of data processing, and in particular, relates to a map generation method, device, electronic equipment and storage medium. Background technique [0002] When constructing a map, a special collection vehicle is generally used, which is equipped with a laser radar and a positioning module, etc., to obtain the pose of the camera and the precise distance from the object to the camera, and construct Figure three three-dimensional scene, or use a multi-eye camera, obtain the depth of field through calibration, that is, the distance from the object to the camera, solve the camera pose, and construct the ground Figure three dimension scene. [0003] When constructing a map through the above method, the cost of collecting data and maintaining the map is relatively high, and it is difficult to apply it on a large scale. If a monocular camera is used for 3D scene reconstruction, it will be affected by facto...
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IPC IPC(8): G06T11/20
CPCG06T11/206
Inventor 许鹏飞张军阮志伟周景超沈忱邵蔚孟一平胡润波柴华
Owner DITU (BEIJING) TECH CO LTD