Mapping method and system based on visual semantic point cloud

A point cloud, semantic technology, applied in machine vision and map construction, deep learning field, can solve problems such as difficulty in map reuse

Pending Publication Date: 2021-02-09
SAIC MOTOR
View PDF0 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Compared with the sensor solution of laser point cloud map, the sensor solution of visual point cloud map has a huge cost advantage, but it is limited b

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Mapping method and system based on visual semantic point cloud
  • Mapping method and system based on visual semantic point cloud
  • Mapping method and system based on visual semantic point cloud

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0052] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0053] Such as figure 1 As shown, it is a method flowchart of an embodiment of a mapping method based on visual semantic point cloud disclosed in the present invention, and the method may include the following steps:

[0054] S101. Collect image data during the running of the vehicle, wherein the image data includes: four-way surround-view images and motion parameters of the vehicle;

[0055] When it is necessary to construct a point cloud map, firstly, the i...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a mapping method and system based on visual semantic point cloud, which can extract semantic information through deep learning frameworks such as semantic segmentation, targetdetection and the like, can add point cloud registration constraints into an SLAM system and perform post-processing on a point cloud map in combination with an octree map, effectively improves the mapping accuracy; According to the method and device, after the octree is used for filtering the original point cloud, the central coordinates of the occupied voxel and the semantic information of the voxel of the octree map are converted into the semantic point cloud map again, so that redundant points in the original map are greatly reduced, the storage space is saved, and subsequent computing resource consumption is reduced; meanwhile, the problem that the map is difficult to use after being converted into the octree structure is also solved.

Description

technical field [0001] The present invention relates to the technical fields of deep learning, machine vision and map construction, and in particular to a mapping method and system based on visual semantic point cloud. Background technique [0002] Point cloud maps are widely used in simultaneous localization and mapping (SLAM) technology, and play an important role in specific functions such as real-time tracking of robot positions and local mapping. According to the sensor scheme adopted, the point cloud map can be mainly divided into the laser point cloud map directly collected by the lidar, and the visual point cloud map obtained by converting the image collected by the camera. Compared with the sensor solution of laser point cloud map, the sensor solution of visual point cloud map has a huge cost advantage, but it is limited by the accuracy and difficulty in map reuse. At present, visual point cloud map has not obtained large-scale scale like laser point cloud map appl...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G06T11/20G06K9/34G06T3/40G06T17/00
CPCG06T11/206G06T3/4038G06T17/00G06V10/267G06V2201/07
Inventor 梁帅乔延琦陈祝金忠孝
Owner SAIC MOTOR
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap