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Three-dimensional point cloud map construction method and system, electronic equipment and storage medium

A map construction and three-dimensional point cloud technology, applied in the field of map surveying and mapping, can solve the problem of difficult to accurately determine the key frame point cloud, and achieve the effect of dense target point cloud map and stable pose map

Active Publication Date: 2021-10-19
TONGJI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing 3D point cloud map construction method is difficult to accurately determine the key frame point cloud when the scene changes suddenly, the present invention provides an improved 3D point cloud map construction method, system, electronic equipment and storage medium

Method used

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  • Three-dimensional point cloud map construction method and system, electronic equipment and storage medium
  • Three-dimensional point cloud map construction method and system, electronic equipment and storage medium
  • Three-dimensional point cloud map construction method and system, electronic equipment and storage medium

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Embodiment 1

[0067] This embodiment provides a method for constructing a three-dimensional point cloud map, such as Figure 1-5 As shown, the method specifically includes the following steps:

[0068] S1. Construct an initial point cloud map and an initial pose graph based on the scanned n frames of point clouds, where the nodes of the initial pose graph are the initial poses of the point cloud in each frame.

[0069] Specifically, suppose there are n frames of point clouds P={p i ,i=0,1,…,n}, first read the point cloud p of the 0th frame 0 , as the initial point cloud map M 0 , and then sequentially read each frame point cloud p i ,p i with the point cloud map M i-1 Carry out an iterative closest point registration algorithm based on point-to-plane distance. After registration, p i Join M i-1 Form M i , and get the initial pose T of each frame point cloud i , where point cloud p of frame 0 0 The initial pose T of 0 is a fourth-order identity matrix.

[0070] According to the a...

Embodiment 2

[0093] This embodiment provides a three-dimensional point cloud map construction system, such as Figure 6 As shown, the system includes:

[0094] The initial graph construction module 11 is used to construct an initial point cloud map and an initial pose graph based on the n-frame point clouds obtained by scanning, and the nodes of the initial pose graph are the initial poses of the point cloud in each frame;

[0095] A voxel building module 12, configured to create a new voxel comprising several voxel units, wherein the three-dimensional size of the voxel is not smaller than the three-dimensional size of the initial point cloud map;

[0096] The key frame determination module 13 is used to determine the number of target voxel units in the voxel after adding the i-th frame point cloud in the voxel, wherein the target voxel unit is each frame that contains the added The voxel unit of the point in the point cloud, then according to the number of the target voxel unit, determin...

Embodiment 3

[0117] Figure 7 It is a schematic structural diagram of an electronic device shown in an example embodiment of the present invention, and shows a block diagram of an exemplary electronic device 60 suitable for implementing an embodiment of the present invention. Figure 7 The electronic device 60 shown is only an example, and should not impose any limitation on the functions and application scope of the embodiment of the present invention.

[0118] Such as Figure 7 As shown, electronic device 60 may take the form of a general-purpose computing device, which may be a server device, for example. Components of the electronic device 60 may include, but are not limited to: at least one processor 61 , at least one memory 62 , and a bus 63 connecting different system components (including the memory 62 and the processor 61 ).

[0119] The bus 63 includes a data bus, an address bus and a control bus.

[0120] The memory 62 may include a volatile memory, such as a random access me...

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Abstract

The invention provides a three-dimensional point cloud map construction method and system, electronic equipment and a storage medium. The method comprises the following steps: constructing an initial point cloud map and an initial pose map based on n frames of point clouds; newly creating voxels; after the ith frame of point cloud is added into the voxel, determining the number of target voxel units in the voxel, the target voxel units are voxel units containing points added into each frame of point cloud, then determining whether the ith frame of point cloud is a key frame point cloud according to the number of the target voxel units, if yes, resetting the points of the point clouds in all the target voxel units, if not, i is made to be equal to i + 1, otherwise, i is made to be equal to i + 1 directly, and adding the ith frame of point cloud into the voxel again until i is equal to n; based on key frame point clouds and non-key frame point clouds in the n frames of point clouds and the initial pose map, obtaining a target pose of each frame of point cloud; and constructing a target point cloud map based on the n frames of point clouds and the target pose of each frame of point clouds. According to the method, the key frame point cloud can be accurately determined when the scene changes suddenly.

Description

technical field [0001] The invention relates to the field of map surveying and mapping, in particular to a method, system, electronic device and storage medium for constructing a three-dimensional point cloud map. Background technique [0002] Point cloud maps are widely used in real-time localization and mapping (SLAM) technology, and play an important role in specific functions such as real-time tracking of robot positions and local mapping. At present, when using the mobile 3D laser scanning system to build a 3D point cloud map of the scene, when selecting the key frame point cloud, it mainly relies on the accumulated moving distance, which leads to a large change in the scene when a short distance is passed (such as entering from a corridor). room) before and after the key frame overlap area is small, it is difficult to accurately calculate the pose changes between frames, and it is difficult to accurately determine the key frame point cloud; secondly, when optimizing th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T15/08
CPCG06T15/08
Inventor 吴杭彬许泽然刘春贾守军韦钧钇姚连璧黄炜许正文
Owner TONGJI UNIV
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