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A Lightweight Compression Transmission Method for Maps

A transmission method and lightweight technology, applied in neural learning methods, image analysis, image enhancement and other directions, can solve problems such as occupying network resources, and achieve the effect of reducing size, improving timeliness and stability

Active Publication Date: 2022-06-14
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to provide a map lightweight compression transmission method, which solves the problem that the map occupies a large amount of network resources during the transmission process of Linux and Windows

Method used

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  • A Lightweight Compression Transmission Method for Maps
  • A Lightweight Compression Transmission Method for Maps
  • A Lightweight Compression Transmission Method for Maps

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0034] see figure 1 and figure 2 , in the present embodiment, the map lightweight compression transmission method includes the map compression step of the Linux server side and the map decompression step of the Windows client, wherein the map compression step of the Linux server side includes:

[0035] Step S101, acquiring a 2D grid map map established at a certain moment.

[0036] like image 3 As shown in the figure, the 2D grid map map created at a certain time refers to the map created at a certain time in the process of mapping. image 3 It can be seen that the 2D grid map mainly includes: white pixels - free passage area, black pixels - obstacle area, gray pixels - unknown area.

[0037] Step S102: Obtain the overall size S=[W, H] of the 2D grid map map, where W represents the width of the map, and H represents the length of the map.

[0038] Step S103, acquiring the inner contour of the 2D grid map map, specifically including:

[0039] S1031, binarization processi...

Embodiment

[0060] Typical embodiments of the present invention are as follows:

[0061] 1. Map compression and reconstruction test.

[0062] Hardware platform and language

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Abstract

The invention relates to a map lightweight compression transmission method, which belongs to the technical field of synchronous positioning and mapping SLAM. Including map compression on the Linux server side and map decompression on the Windows client side, the map compression steps on the Linux server side include: 1) Obtain the 2D grid map map established at a certain moment, and obtain the overall size of the map; 2) Obtain the 2D grid map map Outer contour and inner contour, extract the black pixel of 2D raster map map; 3) the outer contour of output 2D raster map map, inner contour, black pixel and overall size; The map decompression step of Windows client comprises: 4) obtain The outer contour, inner contour, black pixels and overall size of the 2D grid map map; 5) Extract the blank gray map generated according to the overall size of the 2D grid map map; 6) Fill white pixels in the outer contour and fill in the inner contour Gray pixels, fill the black pixels obtained in step 4) between the outer contour and the inner contour; 7) Obtain the decompressed 2D grid map map.

Description

technical field [0001] The invention relates to the technical field of synchronous positioning and map building SLAM, in particular to a method for map lightweight compression and transmission. Background technique [0002] With the rapid development of computer technology, sensor technology and network transmission technology, more and more fields of SLAM appear, and the increasing demand for automation in various industries will enable SLAM to maintain a strong growth. [0003] SLAM technology (Simultaneous localization and mapping) is simultaneous localization and map creation technology. SLAM technology can use on-board sensors to perceive the environment and simultaneously map and localize in partially known or unknown environments. [0004] Two key technical difficulties of SLAM: mapping and navigation. The mapping algorithm uses data from sensors such as IMU, odometer, lidar and camera to build a map of a scene. Navigation is the autonomous navigation of target poin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T9/00G06T7/13G06T5/30G06N3/04G06N3/08
CPCG06T9/00G06T7/13G06T5/30G06N3/08G06T2207/20081G06T2207/20084G06N3/045
Inventor 牛成成傅建中林志伟沈洪垚
Owner ZHEJIANG UNIV