Method, system and storage medium for constructing 3D topology map of rescue area

A topology map and construction method technology, applied in the field of rescue map construction, can solve problems such as the inability to implement the rescue plan at the rescue site, achieve the effect of reducing the observation angle, reducing the amount of data and transmission difficulty, and speeding up

Active Publication Date: 2022-08-09
CENT SOUTH UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The invention provides a 3D topological map construction method, system and storage medium of the rescue area, which are used to solve the technical problem that the rescue plan cannot be implemented due to the inability to understand the actual situation of the rescue site in the existing rescue operations

Method used

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  • Method, system and storage medium for constructing 3D topology map of rescue area
  • Method, system and storage medium for constructing 3D topology map of rescue area
  • Method, system and storage medium for constructing 3D topology map of rescue area

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Experimental program
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Embodiment 1

[0040] like Figure 4 As shown, this embodiment discloses a method for constructing a 3D topology map of a rescue area, including the following steps:

[0041] Divide the observation area of ​​the rescue area into a key area 1 and a non-critical area 2, where the key area 1 refers to the preset rescue may occur, and the non-critical area 2 refers to the observation area connecting any two key areas 1;

[0042] Obtain the 3D panorama of the fusion depth information of the key area 1 in the rescue area and the corresponding position information, and the one-way image and the corresponding position information in the non-key area 2;

[0043] Based on the location information of key area 1 and the location information of non-critical area 2, the spatial positions of key area 1 and non-critical area 2 are connected, and according to the 3D panorama of key area 1 and the one-way image in non-critical area 2 Build a 3D topology map of the rescue area.

[0044]In addition, in this e...

Embodiment 2

[0048] The second embodiment is a preferred embodiment of the first embodiment, and the difference from the first embodiment is that the specific steps of the method for constructing a 3D topology map of the rescue area are refined:

[0049] like figure 1 and figure 2 As shown, in this embodiment, a method for constructing a 3D topology map of a rescue area is disclosed, including the following steps:

[0050] Step 1: Visual and environmental information collection

[0051] The observation area of ​​the rescue area is discretized, and the discretized observation area is divided into key area 1 and non-critical area 2. Among them, the key area 1 refers to the observation area of ​​great significance for rescue, or the area that needs to be paid attention to in the search and rescue, and the non-critical area 2 refers to the observation area connecting any two key areas 1; This point is a critical location for rescue. The moving route of the robot is the non-critical area 2...

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Abstract

The invention discloses a method, system and storage medium for constructing a 3D topology map of a rescue area. By dividing the observation area of ​​the rescue area into key areas and non-critical areas, a 3D panorama of fusion depth information of key areas in the rescue area and corresponding Based on the location information of the key area and the location information of the non-critical area, the spatial positions of the key area and the non-critical area are connected, and the key area is based on the location information of the non-critical area. The 3D panorama of the rescue area and the unidirectional images in the non-critical area build a 3D topological map of the rescue area. The invention makes 360-degree key observation on the key area of ​​the rescue site, so that the controller can fully understand the environment of the core area of ​​the rescue site, and then effectively formulate a rescue plan, and for the non-critical area connected to the key area, by collecting only one-way Image mode to reduce the viewing angle, thereby speeding up the speed of environmental perception.

Description

technical field [0001] The present invention relates to the technical field of rescue map construction, in particular to a method, system and storage medium for constructing a 3D topology map of a rescue area. Background technique [0002] In recent years, natural disasters and various emergencies have occurred frequently. Although human beings have greatly improved their ability to predict and rescue disasters and emergencies, many people still die in untimely rescue operations. The core task of rescue is to search and save lives. How to quickly and efficiently detect lives in danger is the key to the success or failure of rescue. Life rescue faces two key difficulties: the complexity and danger of the rescue environment. The environment in which natural disasters and various accidents occur is unfamiliar to rescuers, and on-site search and rescue are difficult. Although there are various life detectors, they need to be brought to the scene by rescuers. Especially in som...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/05G06T17/20G06V20/00
CPCG06T17/05G06T17/20G06V20/10
Inventor 肖嘉莹喻罡袁楚琪车立刚孙凯李俊杰
Owner CENT SOUTH UNIV
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