Room segmentation method based on internal circles and adjacency graph

A technology of adjacency graph and room, applied in the field of mobile robot and laser measurement, which can solve the problems of expressing indoor space semantics and insufficient topological structure.

Pending Publication Date: 2021-07-23
NANTONG UNIVERSITY
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Problems solved by technology

Currently, indoor maps constructed by mobile laser scanning (MLS) systems are usually raster maps, which are insufficient in expressing indoor spatial semantics and topological structures

Method used

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  • Room segmentation method based on internal circles and adjacency graph
  • Room segmentation method based on internal circles and adjacency graph
  • Room segmentation method based on internal circles and adjacency graph

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Embodiment

[0069] The room segmentation method based on internal circle and adjacency graph realized by the present invention comprises the following steps:

[0070] Step 1: Use the two-dimensional occupancy probability grid map obtained by two-dimensional laser scanning (such as image 3 (a)) Carry out distance transformation and calculate the distance value of the nearest neighbor occupancy point of each pixel (such as image 3 (b));

[0071] Step 2: fill the inner circle, such as image 3 As shown in (c), use the inner circle to fill the indoor free space, and construct the inner circle approximation of the indoor free space;

[0072] Step 3: Topological adjacency graph construction, such as image 3 As shown in (d), this method uses weighted undirected graphs to construct the association relationship between internal circles; according to the adjacency relationship between internal circles, the undirected graph expression of internal circles is constructed, and each node of the un...

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Abstract

The invention discloses a room segmentation method based on internal circles and an adjacency graph, and the method comprises the steps: carrying out distance transformation on a two-dimensional occupancy probability grid map obtained through laser scanning, and calculating the distance value of a nearest occupancy point of each pixel; filling a free space with internal circles, and constructing internal circle approximation of the indoor free space; constructing an indoor topology network based on the adjacency relation of the internal circles, and constructing the incidence relation between the internal circles by a weighted undirected adjacency graph; adding and deleting undirected graph edges based on rules, and achieving connected sub-graph segmentation of the graph; and combining the internal circle connected sub-graphs to obtain different adjacent circle clusters, endowing the adjacent circle clusters with different room semantic information, and finally realizing semantic segmentation of an indoor free space (namely, a room). The method can be applied to room segmentation and task planning of the indoor space in the laser scanning process of a mobile robot.

Description

technical field [0001] The invention relates to a room segmentation method based on internal circles and adjacency graphs, and belongs to the technical fields of mobile robots and laser measurement. Background technique [0002] In the field of robotics, it is of great significance to use laser scanning data to build an environmental map of an unknown environment. With the development of technology, service robots are becoming more and more popular, such as sweeping robots, tour guide service robots, catering service robots, etc., all rely on simultaneous positioning and mapping technology (SLAM) to realize their position estimation and environment Perception, and then realize path planning and task planning. In the field of construction engineering, for most new buildings, the latest national codes require building information models (BIM), but these models are no longer applicable after the building is completed. After the building is completed, every design and renovati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/10G06T7/62
CPCG06T2207/10012G06T7/10G06T7/62
Inventor 杨帆张驰张季一车明亮王英利曹鑫亮陆佩华
Owner NANTONG UNIVERSITY
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