Mapping method and device, electronic equipment and storage medium

Abstract

The invention provides a mapping method, and relates to the technical field of artificial intelligence such as visual positioning, deep learning and augmented reality, in particular to the technical field of visual mapping. According to the specific implementation scheme, the method comprises the steps of acquiring a pose corresponding to radar data collected for a target scene and a pose corresponding to an image; determining a three-dimensional point of the target scene represented by the key point in the image based on the key point in the image and the pose corresponding to the image; determining three-dimensional points of the target scene represented by the three-dimensional points in the radar data based on the radar data and the poses corresponding to the radar data; and constructing a visual map of the target scene by taking each determined three-dimensional point of the target scene as a position point of a visual map to be constructed. Through the scheme of the invention, the visual mapping robustness can be improved.

Description

technical field [0001] The present disclosure relates to the technical fields of artificial intelligence such as visual positioning, deep learning, and augmented reality, especially relates to the field of visual mapping, and specifically relates to a mapping method, device, electronic equipment, and storage medium. Background technique [0002] With the development of portable photography equipment such as mobile phones, the low-cost visual positioning method based on the camera has gradually attracted everyone's attention. Before actually using the positioning function, it is necessary to visually map the scene. [0003] In related technologies, a camera mapping method is often used to construct a visual map of a scene. However, in the process of using imaging equipment such as panoramic cameras for mapping, due to the presence of local scenes with no or weak textures in the scene, such as glass reflections, white walls, etc., there are often no data in the established vis...

AI Technical Summary

Problems solved by technology

However, in the process of using imaging equipment such as panoramic cameras for mapping, due to the presence of local scenes with no or weak textures in the scene, such as glass reflections, white walls, etc., there are often no data in the established visual map. local area

Therefore, the correlation mapping scheme is less robust

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