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Map updating method and device, terminal and storage medium

A map update and map technology, which is applied to measurement devices, database updates, geographic information databases, etc., can solve the problems of low map accuracy, low accuracy, and easy errors.

Pending Publication Date: 2020-12-29
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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  • Abstract
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Problems solved by technology

[0002] In related technologies, the global map is constructed through the histogram correlation of two local maps, but the calculation of the angle offset and translation offset of the histogram is dependent on the normal phase feature of the point cloud; thus, due to the phase feature of the point cloud, the The accuracy of the features is not high, and errors are prone to occur, which will lead to lower accuracy of the resulting map

Method used

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  • Map updating method and device, terminal and storage medium
  • Map updating method and device, terminal and storage medium
  • Map updating method and device, terminal and storage medium

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Embodiment Construction

[0132] 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.

[0133] An embodiment of the present application provides a method for updating a map, Figure 1A It is a schematic flow diagram for implementing the map update method of the embodiment of the present application, as shown in Figure 1A As shown, the method includes the following steps:

[0134] Step S101, acquiring the first image feature in the first map.

[0135] Here, the first map can be understood as a part of the global map, for example, the global map contains key frame images corresponding to 100 indoor scenes, then the first map can contain key frame images corresponding to a part of the indoor scenes . The first image features include: 2D position information, 3D position information and identification information of feature points of key frame images in the first...

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Abstract

The embodiment of the invention discloses a map updating method. The method comprises the steps of obtaining a first image feature in a first map; matching a second image feature from a second map according to the first image feature, wherein scene information parts corresponding to the first map and the second map are the same; and according to the first image feature and the second image feature, adding each key frame image in the first map to the second map to obtain an updated second map. The embodiment of the invention further provides a map updating device, a terminal and a storage medium.

Description

technical field [0001] The present application relates to indoor positioning technology, and relates to but not limited to a map update method and device, terminal, and storage medium. Background technique [0002] In related technologies, the global map is constructed through the histogram correlation of two local maps, but the calculation of the angle offset and translation offset of the histogram is dependent on the normal phase feature of the point cloud; thus, due to the phase feature of the point cloud, the The accuracy of the features is not high and errors are prone to occur, which will lead to a lower accuracy of the resulting map. Contents of the invention [0003] In view of this, the embodiments of the present application provide a map updating method and device, a terminal, and a storage medium to solve at least one problem existing in related technologies. [0004] The technical scheme of the embodiment of the application is realized in this way: [0005] A...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F16/23G06F16/587G06F16/29
CPCG06F16/23G06F16/587G06F16/29G01C21/387G01C21/3833G06V20/46G06V10/44G06V20/56
Inventor 金珂杨宇尘陈岩方攀
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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