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Point cloud matching method, positioning method, equipment and storage medium

A point cloud matching and point cloud technology, applied in image data processing, instrument, character and pattern recognition, etc., can solve the problem of low accuracy of point cloud matching method

Pending Publication Date: 2020-10-23
ZHEJIANG DAHUA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The technical problem mainly solved by this application is the problem that the accuracy of the existing point cloud matching method is not high

Method used

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  • Point cloud matching method, positioning method, equipment and storage medium
  • Point cloud matching method, positioning method, equipment and storage medium
  • Point cloud matching method, positioning method, equipment and storage medium

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Embodiment Construction

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0022] figure 1 It is a schematic flow chart of an embodiment of the point cloud matching method of the present application. It should be noted that if there are substantially the same results, this example does not refer to figure 1 The flow sequence shown is limited. Such as figure 1 As shown, this embodiment may include:

[0023] S110: Obtain a target image set and target point cloud data corresponding to shooting and scanning the surrounding environmen...

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Abstract

The invention discloses a point cloud matching method, a positioning method, equipment and a storage medium. The point cloud matching method comprises the steps that semantic information correspondingto a first point cloud feature of target point cloud data is determined, and the target point cloud data is obtained by scanning the surrounding environment of a target pose; point features corresponding to the dynamic object in the first point cloud features are filtered based on the semantic information; and feature matching on the filtered first point cloud features and second point cloud features of preset point cloud data are performed to obtain a matching result. Through the above mode, accurate matching of the target point cloud data and the preset point cloud data can be realized.

Description

technical field [0001] The present application relates to the field of artificial intelligence, in particular to a point cloud matching method, a positioning method, electronic equipment and a computer-readable storage medium. Background technique [0002] Relocalization technology is one of the most common problems to be solved in simultaneous localization and mapping (SLAM). In actual production application scenarios, the application of map positioning technology is often challenged by uncertain external environments. For example, when determining the pose of the robot on the global map without any prior information of the environment, if the robot is moved by the outside world, the continuity of the collected data will be affected, resulting in the failure of pose positioning. Another example is that in a modern production environment, more and more robots need to move autonomously in a highly dynamic environment. When the external environment of the robot changes drasti...

Claims

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Application Information

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IPC IPC(8): G06T7/33G06T7/10G06K9/62
CPCG06T7/33G06T7/10G06T2207/10028G06T2207/20084G06F18/22
Inventor 毛栎炳卢维任宇鹏张凯殷俊
Owner ZHEJIANG DAHUA TECH CO LTD