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Laser SLAM-oriented feature line segment extraction method and device, electronic device and storage medium

An extraction method and line segment technology, applied in the field of laser SLAM image processing, can solve the problems of low accuracy and complex realization of feature line segments, and achieve the effect of simple and accurate extraction, and the purpose and advantages are concise and easy to understand.

Pending Publication Date: 2022-03-01
深圳市优象计算技术有限公司
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Problems solved by technology

[0005] The embodiment of the present application provides a laser SLAM-oriented feature line segment extraction method, device, electronic device and storage medium, to at least solve the problem of complex and low accuracy in the related art of extracting feature line segments from laser radar scanning points

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  • Laser SLAM-oriented feature line segment extraction method and device, electronic device and storage medium
  • Laser SLAM-oriented feature line segment extraction method and device, electronic device and storage medium
  • Laser SLAM-oriented feature line segment extraction method and device, electronic device and storage medium

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Embodiment Construction

[0057] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ordinary skill in the art relevant to the content disclosed in this application, the technology disclosed in this application Some design, manufacturing or production changes based on the content are just conventional technical means, and...

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Abstract

The invention relates to a laser SLAM-oriented feature line segment extraction method and device, an electronic device and a storage medium. The laser SLAM-oriented feature line segment extraction method comprises the following steps: acquiring a first data set, performing coordinate transformation on the first data set to determine a second data set, deleting interference data in the second data set to determine a third data set, determining break point data in the third data set, and extracting a feature line segment from the third data set according to the break point data, and grouping the third data set to determine a grouped data set, and extracting a feature line segment corresponding to the grouped data set. Through the method and the device, the problems of complex implementation and low accuracy of extracting the feature line segments from the laser radar scanning point set are solved, and a scheme for simply, conveniently and accurately extracting the feature line segments in the laser radar scanning point set is realized.

Description

technical field [0001] The present application relates to the field of laser SLAM image processing, in particular to a laser SLAM-oriented feature line extraction method, device, electronic device and storage medium. Background technique [0002] Simultaneous location and mapping (SLAM) technology refers to the fact that a robot equipped with a specific sensor processes the observation data of the sensor in real time in an unknown environment, analyzes and obtains the environmental characteristics and its own position and posture, and constructs the surrounding environment in real time. Incremental maps of the environment and self-localization. As a key technology for autonomous navigation, SLAM is currently widely used in the unmanned driving industry and the intelligent robot industry. SLAM can be divided into two types: laser-based SLAM and vision-based SLAM. Lidar has the advantages of high measurement accuracy, fine time and space resolution, no need to arrange scenes...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06K9/62G06V10/774
CPCG06T17/05G06F18/214
Inventor 刘晓华李昊
Owner 深圳市优象计算技术有限公司
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