Collaborative three-dimensional mapping method and system
A 3D and map technology, applied in 3D modeling, image data processing, instruments, etc., can solve the problems of poor real-time performance of the system and unsuitability for large-scale environmental applications, and achieve high precision, strong real-time performance, and good robustness Effect
Pending Publication Date: 2022-04-12
SHENZHEN INST OF ADVANCED TECH
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Problems solved by technology
[0002] In the prior art, there is a technology of using road signs and monocular camera sensor technology to realize multi-robot three-dimensional plane mapping, but the real-time performance of the existing technical system is poor;
[0003] There is also a two-dimensional plane mapping of a single robot using road signs and cloud architecture, but this system is not suitable for large-scale environmental applications
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[0092] Such as Figure 1-Figure 2 As shown, this embodiment provides a collaborative three-dimensional mapping method, including:
[0093] Environmental preparation, collecting environmental information;
[0094] Information processing, from the acquired environmental information, using the Tracking thread design idea in the ORB-SLAM algorithm framework to extract key frames;
[0095] Detect visual positioning marks through the cloud, and visual positioning marks are road signs;
[0096] Optimizing pose estimation for UAV visual odometry via visual localization markers;
[0097] Optimizing the pose estimation of unmanned vehicle visual odometry through visual localization markers;
[0098] The local map construction thread and closed-loop detection thread of the ORB-SLAM framework are completed through the cloud.
[0099]Specifically, the cloud executes the local map construction thread (Local Mapping thread) and loop closure detection thread (Loop Closing thread) in ORB-S...
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The invention provides a collaborative three-dimensional mapping method and system. The collaborative three-dimensional mapping method comprises the following steps: detecting a visual positioning mark through a cloud; optimizing pose estimation of the visual odometer of the unmanned aerial vehicle through the visual positioning mark; optimizing the pose estimation of the visual odometer of the unmanned vehicle through the visual positioning mark; and a local map construction thread and a closed loop detection thread of the ORB-SLAM framework are completed through the cloud. Compared with the prior art, the method is mainly realized based on an ORB-SLAM framework and a cloud, a tracking thread in ORB-SLAM is realized by the unmanned aerial vehicle and the unmanned vehicle, a local map construction thread and a closed-loop detection thread in ORB-SLAM are realized by the cloud, and pose estimation of the visual odometer of the unmanned aerial vehicle is optimized by utilizing a visual positioning mark. And the pose estimation of the visual odometer of the unmanned vehicle is optimized by using the visual positioning mark, so that the problems that the real-time performance of the collaborative SLAM system is difficult to meet and the positioning of the collaborative SLAM system is inaccurate can be solved, and the collaborative three-dimensional mapping system with good robustness, high precision and strong real-time performance can be realized.
Description
technical field [0001] The invention relates to the field of collaborative three-dimensional mapping, in particular to a method and system for collaborative three-dimensional mapping. Background technique [0002] In the prior art, there is a technology of using road signs and monocular camera sensor technology to realize multi-robot three-dimensional plane mapping, but the real-time performance of the existing technical system is poor; [0003] There are also road signs and cloud architectures used to realize two-dimensional plane mapping of a single robot, but this system is not suitable for large-scale environmental applications. Contents of the invention [0004] In order to overcome the deficiencies of the prior art, the present invention provides a method and system for collaborative three-dimensional mapping, and the specific technical solutions are as follows: [0005] A collaborative three-dimensional mapping method, comprising: [0006] Detect visual positionin...
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IPC IPC(8): G06T17/00
CPCG06T17/00
Inventor 徐坤冯时羽李慧云党少博潘仲鸣
Owner SHENZHEN INST OF ADVANCED TECH