Map generation method, device and system, storage medium and electronic equipment
A map generation and map technology, which is applied in the field of robot vision, can solve the problems of poor map intuitiveness, etc., and achieve the effect of increasing intuitiveness, improving the degree of recognition and the scope of application
Pending Publication Date: 2021-12-24
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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Problems solved by technology
[0003] The embodiment of the present application provides a map generation method, device, system, storage medium and electronic equipment, which can solve the problem that in the three-dimensional dense point cloud map constructed by the existing robot, each position only has three-dimensional position coordinates and corresponding intensity information, resulting in The problem of poor intuitiveness of the map
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[0037] The technical solutions in the present application embodiment will be described in conjunction with the drawings in the present application embodiment.
[0038] The description and claims of the present application and the terms "first", "second", "third", and the like are used to distinguish different objects, not to describe a particular order. Moreover, the terms "including" and "have" and any variations, intended to cover the inclusion of his inclusion. For example, a series of processes, methods, systems, products, or devices that include a series of steps or units are not limited to the listed steps or units, but optionally, there is also a step or unit that is not listed, or optionally also include Other steps or units inherent in these processes, methods, products, or equipment.
[0039] See figure 1 , figure 1 A architecture schematic diagram of a map generation system provided by the embodiment of the present application is shown.
[0040] like figure 1 As shown, ...
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The invention discloses a map generation method, device and system, a storage medium and electronic equipment, and the method comprises the steps: obtaining pose data corresponding to a plurality of positions, and obtaining point cloud data and image color data corresponding to the pose data corresponding to the plurality of positions; and generating a map according to the pose data corresponding to the plurality of positions, the point cloud data corresponding to the pose data corresponding to the plurality of positions and the image color data. According to the method and the device, the color information can be endowed to the generated point cloud map according to the pose data, the point cloud data and the image color data corresponding to the plurality of positions, so that the intuition of the point cloud map is improved, and meanwhile, semantic analysis can be performed on the generated point cloud map, so that the application range of the point cloud map is expanded.
Description
Technical field [0001] The present application relates to the field of robotics, and in particular, there is a map generation method, device, system, storage medium, and electronic device. Background technique [0002] With the rapid development of technology, more and more industrial vision began to facilitate the service to provide services to users. The robot can sense external information by self-portable sensors, and simultaneously positioning and establishing a three-dimensional thickening pass point cloud map, wherein traditional vision techniques use camera as sensors, using image feature points (such as ORB, SIFT, etc.) to calculate images. Matching relationship between and creates a map by projecting these feature points to 3D space. Inventive content [0003] The present application provides a map generation method, apparatus, system, storage medium, and electronic device that solves the three-dimensional density cloud map constructed in the existing robot, each locat...
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IPC IPC(8): G01C21/00
CPCG01C21/3807
Inventor 宋亚龙
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD