Map construction method and device
A technology of map construction and point cloud data, applied in the field of positioning and navigation, can solve problems such as inaccurate 3D images, inaccurate point cloud maps, and inaccurate relative poses of laser radars, and achieve accurate relative poses and accurate 3D images Effect
Pending Publication Date: 2022-03-22
BEIJING JINGWEI HIRAIN TECH CO INC
View PDF0 Cites 1 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] At present, based on the time stamp of each frame of point cloud data and the time stamp of each pose, the method of associating each frame of point cloud data with pose is not accurate, so that the calculated relative The pose is inaccurate, resulting in inaccurate point cloud map, which eventually leads to inaccurate construction of the 3D image of the measured object based on the point cloud map
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0079] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
[0080] The embodiment of the present application provides a method and device for constructing a map. Before introducing the technical solution provided in the present application, the related technologies and hardware architecture involved in the present application will be described first.
[0081] Firstly, the hardware architecture involved in this application will be described.
[0082] Such as figure 1 Shown is a schematic diagram of the hardware architecture involved in the e...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention provides a map construction method and device, and the method comprises the steps: obtaining a plurality of poses of a laser radar collected by a pose collection module and timestamps corresponding to the plurality of poses in a process of collecting the point cloud data for any frame of point cloud data in a process of building an incidence relation between the point cloud data and the poses; obtaining target pose change information of the laser radar in the process of collecting the frame of point cloud data; based on the multiple poses, the timestamps corresponding to the multiple poses, the target pose change information and the timestamp of the point cloud data, the determined poses associated with the point cloud data are more accurate, so that the obtained relative poses between every two adjacent frames of point cloud data are more accurate. And the three-dimensional image of the measured object, which is constructed based on the relative pose between every two adjacent frames of point cloud data in the multiple frames of point cloud data and the multiple frames of point cloud data, is more accurate.
Description
technical field [0001] The present application relates to the technical field of positioning and navigation, and more specifically, relates to a map construction method and device. Background technique [0002] The principle of SLAM (simultaneous localization and mapping, synchronous positioning and map creation) technology is: use laser radar to emit light to the measured object and receive the light reflected by the measured object, calculate the flight distance of the beam of light to obtain the measured object Distance to lidar. The laser radar includes multiple laser sensors. If multiple laser sensors are used to emit light, multiple points can be obtained. The collected information of each point includes: the position of the laser sensor corresponding to the point in the laser radar, the laser sensor corresponding to the point The order of the emitted light rays and the distance corresponding to the point, the multiple points obtained after each laser sensor in the la...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06T7/70G06K9/62G06V10/762
CPCG06T17/05G06T7/70G06T2207/10044G06F18/23
Inventor 包麒麟
Owner BEIJING JINGWEI HIRAIN TECH CO INC