Visual SLAM method and device, terminal equipment and storage medium

A visual and current image technology, applied in the field of image processing, can solve problems affecting the accuracy of mapping and achieve the effect of improving accuracy

Pending Publication Date: 2021-11-09
SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The embodiment of the present application provides a visual SLAM method, device, terminal equipment, and storage medium to solve the problem that dynamic objects affect the accuracy of mapping when performing visual SLAM in a dynamic environment in the prior art

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  • Visual SLAM method and device, terminal equipment and storage medium
  • Visual SLAM method and device, terminal equipment and storage medium
  • Visual SLAM method and device, terminal equipment and storage medium

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Embodiment Construction

[0025] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

[0026] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude one or more other features. , whole, step, operation, element, component and / or the presence or addition of a collection thereof.

[0027] It shou...

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Abstract

The invention is suitable for the technical field of image processing, and provides a visual SLAM method and device, terminal equipment and a storage medium. The visual SLAM method comprises the following steps: acquiring a current image frame, wherein the current image frame comprises an RGB image and a depth image; based on the RGB image and the depth image, carrying out semantic segmentation on the current image frame through a Transformer model, and obtaining a dynamic area in the current image frame, wherein the dynamic area refers to an area where a dynamic object in the current image frame is located; removing the dynamic region from the current image frame to obtain a target image; and performing mapping and loopback detection based on the target image. According to the invention, the problem that the mapping accuracy is influenced by a dynamic object when visual SLAM is carried out in a dynamic environment in the prior art can be solved.

Description

technical field [0001] The present application belongs to the technical field of image processing, and in particular relates to a visual SLAM method, device, terminal equipment and storage medium. Background technique [0002] Simultaneous Localization and Mapping (SLAM) refers to the use of visual sensors mounted on the robot to perceive the surrounding environment without prior information, to establish an environmental model during the movement process, and to estimate the position of the robot at the same time. technology. [0003] Current visual SLAM methods are usually based on static assumptions, that is, objects in the default environment are static during the entire visual SLAM process. However, most of the actual application environments are dynamic environments, and there are dynamic objects, such as walking people and driving cars, etc. These dynamic objects affect the accuracy of mapping. Contents of the invention [0004] Embodiments of the present applicat...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06T7/73G06T7/11
CPCG06T17/05G06T7/73G06T7/11G06T2207/30244G06T2207/10024G06T2207/10028
Inventor 曾驳宋呈群程俊
Owner SHENZHEN INST OF ADVANCED TECH CHINESE ACAD OF SCI
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