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Three-dimensional dense surface element mapping method and system based on SLAM (Simultaneous Localization and Mapping) and electronic equipment

A surfel and dense technology, applied in image analysis, image enhancement, 3D modeling, etc.

Pending Publication Date: 2022-05-06
SUNNY OPTICAL ZHEJIANG RES INST CO LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

In this way, the Bundle Fusion of the voxel method realizes the corresponding global optimized map update through the inverse integration and re-integration of the RGBD image frame, while the Elastic Fusion of the surface element method realizes the global consistency of the map by adding a closed-loop detection module , and then map deformation, but these two 3D map reconstruction schemes also need to use GPU for parallel acceleration to meet real-time calculations

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  • Three-dimensional dense surface element mapping method and system based on SLAM (Simultaneous Localization and Mapping) and electronic equipment
  • Three-dimensional dense surface element mapping method and system based on SLAM (Simultaneous Localization and Mapping) and electronic equipment
  • Three-dimensional dense surface element mapping method and system based on SLAM (Simultaneous Localization and Mapping) and electronic equipment

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[0083] The following description serves to disclose the present invention to enable those skilled in the art to carry out the present invention. The preferred embodiments described below are only examples, and those skilled in the art can devise other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents and other technical solutions without departing from the spirit and scope of the present invention.

[0084] In the present invention, the term "a" in the claims and the specification should be understood as "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element Can be multiple. Unless it is clearly indicated in the disclosure of the present invention that there is only one element, the term "a" cannot be understood as unique or single, and the term "a" cannot be understood a...

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Abstract

The invention discloses a three-dimensional dense surface element mapping method and system based on SLAM (Simultaneous Localization and Mapping) and electronic equipment. The three-dimensional dense surface element mapping method based on the SLAM comprises the steps that new image frame data and pose data are preprocessed to obtain synchronous image frame pose information and corresponding image information, and the image information comprises a gray level image and a depth image which are aligned; performing superpixel segmentation, surface element extraction and fusion processing on the image information in combination with the image frame pose information in the same thread so as to obtain an updated surface element map; and performing structured mesh processing on the updated surface element map to output triangular mesh data of the dense map in real time.

Description

technical field [0001] The present invention relates to the technical field of SLAM, in particular to a SLAM-based three-dimensional dense surfel mapping method, system and electronic equipment. Background technique [0002] Simultaneous Localization and Mapping (English: Simultaneous Localization and Mapping, referred to as SLAM) technology is the core technology of positioning and navigation for mobile robots, virtual reality and augmented reality devices. application. At present, the classic SLAM algorithm framework based on visual sensors or based on the coupling of visual sensors and inertial measurement units (IMUs) usually includes front-end extraction and tracking of image features, back-end optimization and estimation of spatial point positions and their own poses, loop detection to correct offsets, As well as the establishment of three-dimensional maps and other modules, and has tended to be finalized. For example, back-end optimization mainly includes filtering ...

Claims

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Application Information

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IPC IPC(8): G06T17/00G06T7/10G06T5/00
CPCG06T17/00G06T7/10G06T2207/10028G06T2207/20221G06T2207/20228G06T5/80
Inventor 周刊周俊
Owner SUNNY OPTICAL ZHEJIANG RES INST CO LTD
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