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Quick map updating method and device adapting to unknown dynamic space and storage medium

A map update, map technology, applied in database update, image data processing, graphic image conversion and other directions

Active Publication Date: 2020-12-01
北京轩宇空间科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] (3) In addition, most of the maps generated by visual SLAM are point cloud maps, which are usually not directly used for path planning

Method used

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  • Quick map updating method and device adapting to unknown dynamic space and storage medium
  • Quick map updating method and device adapting to unknown dynamic space and storage medium
  • Quick map updating method and device adapting to unknown dynamic space and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0049] This example provides a fast map update method adapted to unknown dynamic space, which is used to improve the efficiency of map update in uncertain environment in unknown dynamic space.

[0050] Such as Figure 1~2 As shown, the method for this example includes the following steps:

[0051] Step 101, refer to the admissible pose to perform coordinate transformation on the currently acquired local map.

[0052] Coordinate transformation, specifically, P=P 0 +R'(Ω)*P t Among them, P is a point in the global position coordinates, P 0 is the coordinate of the origin of the local map in the global map, R'(Ω) is the transpose of the direction cosine matrix of the attitude angle Ω, which represents the rotation projection of the local map to the global map, P t is the coordinate of any point in the local map.

[0053] image 3 Data control flow graph for pose sources used for map building.

[0054] The admissible pose can be the result of a certain calculation after be...

Embodiment 2

[0090] This example provides a fast map updating device adapting to unknown dynamic space.

[0091] Such as Figure 4 As shown, the update device in this example includes a transform module and a merge module. The transformation module is connected to the flattening module.

[0092] Specifically, the transformation module is used to transform the coordinates of the currently acquired local map through the acceptable pose; the stitching module is used to stitch together the current archived map and the current planning map according to the coordinate transformed local map combined with the original archived map ;The current archived map is used as the original archived map of the next frame; where: the archived map is a global map used to record immovable obstacles or parts of the environment that have not changed; the current planning map is a global planning map or a local planning map for recording The current environment can be used directly for path planning.

[0093] T...

Embodiment 3

[0113] A computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, the device where the storage medium is located is controlled to execute the fast map update method for adapting to an unknown dynamic space in the above embodiment.

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Abstract

The invention discloses a rapid map updating method and device adapting to an unknown dynamic space and a storage medium, and belongs to the field of automatic driving. The method comprises the following steps: performing coordinate transformation on a currently acquired local map based on an acquirable pose; respectively splicing to obtain a current archived map and a current planning map, wherein the current archived map is used as an original archived map of the next frame, the archived map is a global map and is used for recording an immovable obstacle or a part which is not changed in theenvironment, the current planning map is a global planning map or a local planning map and is used for recording the current environment so as to be directly used for path planning. All maps are provided with three space occupation characteristic logic values: passage, unknown and obstacle. The mode of separating the archived map from the current planning map is suitable for describing the dynamics and uncertainty of the environment, and is suitable for the rapid mapping and simultaneous planning in an unknown environment; and the current planning graph can be directly used for local path correction and auxiliary track following control so as to realize obstacle avoidance.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a fast map update method, device and storage medium adapting to unknown dynamic spaces. Background technique [0002] Vehicle localization and map creation in an unknown environment is a conflicting yet interrelated process. [0003] In a vision-based SLAM system: [0004] (1) First of all, it is usually assumed that the environment is static, and the environment contains only fixed elements and rigid elements, while the actual environment usually contains mobile elements, which will lead to wrong matching, and the result is unpredictable in the system. mistake; [0005] (2) Second, the real world is visually repetitive. This makes it difficult to identify previously arrived scenes or large-scale SLAM; [0006] (3) In addition, most of the maps generated by visual SLAM are point cloud maps, which are usually not directly used for path planning. [0007] To sum up, ...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/32G06F16/23G06F16/29G06T3/40
CPCG01C21/20G01C21/32G06T3/4038G06F16/29G06F16/23
Inventor 罗冠辰张铖林刘俊君王明杰
Owner 北京轩宇空间科技有限公司
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