3D semantic map construction method and module and robot interaction method and system

A semantic map and construction method technology, applied in the field of robot interaction methods and systems, can solve problems such as the impact of algorithm accuracy and robustness, and achieve the effect of high algorithm accuracy and robustness

Pending Publication Date: 2021-03-09
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

At the same time, the traditional positioning and mapping methods are only suitable for static environments. When there are moving objects in the environment, the moving objects will have a great impact on the accuracy and robustness of the algorithm. However, moving objects in the scene are often unavoidable. deal with it

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  • 3D semantic map construction method and module and robot interaction method and system
  • 3D semantic map construction method and module and robot interaction method and system
  • 3D semantic map construction method and module and robot interaction method and system

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Embodiment Construction

[0022] Hereinafter, specific embodiments of the present invention will be described in detail with reference to the accompanying drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the specific embodiments set forth herein. Rather, the embodiments are provided to explain the principles of the invention and its practical application, thereby enabling others skilled in the art to understand the invention for various embodiments and with various modifications as are suited to particular intended uses.

[0023] As used herein, the term "comprising" and its variants represent open terms meaning "including but not limited to". The terms "based on", "based on", etc. mean "based at least in part on", "based on at least in part". The terms "one embodiment" and "an embodiment" mean "at least one embodiment." The term "another embodiment" means "at least one other embodiment." The terms "first", "second", etc. may refer ...

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Abstract

The invention provides a 3D semantic map construction method used in robot interaction, which comprises the following steps: receiving an input sequence image, and identifying a dynamic object and semantic information in an image frame of the sequence image; removing the identified dynamic object from the image frame of the sequence image; constructing a 3D map according to the image frame of thesequence image from which the dynamic object is removed, and acquiring robot pose information; mapping a semantic map corresponding to the semantic information to the 3D map through the robot pose information; and constructing a 3D semantic map according to the 3D map mapped with the semantic map. According to the invention, the robot can understand the content in the surrounding environment according to the semantic information, and has high algorithm precision and robustness when a moving object appears in the surrounding environment, so that real intellectualization can be realized, and services can be provided for human beings at a sufficiently high level.

Description

technical field [0001] The invention belongs to the technical field of robots and image processing, and in particular relates to a 3D semantic map construction method and module, and a robot interaction method and system. Background technique [0002] With the development of science and technology, robots have gradually entered various fields of human society. Various service robots can also be seen in public places, which can query various information through voice interaction. However, the current mobile service robots have simple functions and only stay in the state of asking and answering. The robot is still unable to achieve real intelligence and cannot understand its surrounding environment, so it cannot provide sufficient and high-level services for human beings. [0003] If mobile robots want to realize intelligent applications, a key issue is to achieve autonomous positioning and environmental perception. In many scenarios involving robot applications, such as pat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06K9/00
CPCG06T17/05G06V20/41
Inventor 宋呈群程俊
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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