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Map construction method and device, electronic equipment and storage medium

A map construction and mobile device technology, applied in the computer field, can solve the problems of low accuracy, low real-time and low efficiency of three-dimensional maps

Active Publication Date: 2021-08-20
SHENZHEN SENSETIME TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, in related technologies, the accuracy of self-positioning using inertial measurement units, wheel odometers, etc. is not high, and the real-time and efficiency of building 3D maps is not high by using image data collected by monocular cameras combined with 3D map construction technology

Method used

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  • Map construction method and device, electronic equipment and storage medium
  • Map construction method and device, electronic equipment and storage medium
  • Map construction method and device, electronic equipment and storage medium

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Embodiment Construction

[0034] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0035] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

[0036] The term "and / or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the term "at least one" herein mean...

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Abstract

The invention relates to a map construction method and device, electronic equipment and a storage medium. The method comprises the steps: obtaining a scene image and a depth image of a target scene collected by mobile equipment, and obtaining a relative pose of the mobile equipment at a current moment; according to the scene image and the depth image, determining a first spatial feature point of the target scene at a previous moment and a second spatial feature point of the target scene at a current moment, the time sequence of the previous moment being before the current moment, the first spatial feature point being matched with the second spatial feature point; optimizing the relative pose according to the first spatial feature point and the second spatial feature point to obtain positioning information of the mobile device at the current moment; and according to the positioning information and the depth image, determining a grid map corresponding to the target scene, the grid map being used for indicating a drivable area in the target scene, so that a mobile device performs navigation operation according to the grid map. According to the embodiment of the invention, the map construction precision and efficiency can be improved.

Description

technical field [0001] The present disclosure relates to the field of computer technology, and in particular to a method and device for constructing a map, electronic equipment, and a storage medium. Background technique [0002] Sweeping robots are used more and more in indoor cleaning. At present, sweeping robots are usually equipped with a variety of sensors, such as laser radar, monocular camera, inertial measurement unit (Inertial Measurement Unit, IMU), wheel odometer, etc. To comprehensively utilize various sensors for self-positioning, map building, etc., in order to realize autonomous navigation. Among them, autonomous navigation can be understood as using the constructed map and self-positioning information to perform path planning and obstacle analysis in advance, so that the intelligent sweeping robot can perform mobile cleaning. [0003] However, in related technologies, the accuracy of self-positioning using inertial measurement units and wheel odometers is no...

Claims

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Application Information

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IPC IPC(8): G06T17/05G06T19/00G06T7/70G06T7/62G06K9/46G06T7/80
CPCG06T17/05G06T19/003G06T7/70G06T7/62G06T7/85G06T2207/10012G06T2207/10021G06T2207/20081G06T2207/30244G06V10/44G06V10/462
Inventor 张展鹏邓文钧龙有炼赵扬波于行尧成慧
Owner SHENZHEN SENSETIME TECH CO LTD
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