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Method, device and equipment for constructing point cloud map

A point cloud and map technology, applied in the field of computer vision, can solve the problem of low efficiency of point cloud map

Pending Publication Date: 2022-05-13
GUANGZHOU SHIYUAN ELECTRONICS CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] Based on this, it is necessary to provide a method, device, device and storage medium for constructing a point cloud map in order to solve the technical problem of low efficiency in constructing a point cloud map in the traditional technology

Method used

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  • Method, device and equipment for constructing point cloud map
  • Method, device and equipment for constructing point cloud map
  • Method, device and equipment for constructing point cloud map

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Embodiment Construction

[0038] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail 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.

[0039] The method for constructing a point cloud map provided by this application can be applied to such as figure 1 shown in the application environment. Wherein, the application environment may include a mapping front-end device 110 and a mapping back-end device 120 . Wherein, the mapping front-end device 110 can communicate with the mapping back-end device 120 through a network, and the mapping front-end device 110 can also be connected to the first camera and the second camera, and the mapping front-end device can be used to control the first camera and the second cam...

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Abstract

The invention relates to the technical field of computer vision, and provides a method and device for constructing a point cloud map, equipment and a storage medium. According to the method, the efficiency of constructing the point cloud map can be improved on the premise of ensuring the mapping performance. The method comprises the following steps: acquiring at least two mapping key frame images from a first image sequence shot by a first camera, and acquiring an image shot synchronously with a target mapping key frame image from a second image sequence shot by a second camera as a scale reference image, the target mapping key frame image can be one of at least two mapping key frame images. Determining a mapping scale of the first camera according to a first spatial position corresponding to a common feature point obtained based on the at least two mapping key frame images in the space and a second spatial position corresponding to a common feature point obtained based on the target mapping key frame image and the scale reference image in the space, and finally, constructing a point cloud map based on the target mapping key frame based on the mapping scale and the first image sequence.

Description

technical field [0001] The present application relates to the technical field of computer vision, in particular to a method, device, device and storage medium for constructing a point cloud map. Background technique [0002] With the development of computer vision technology, the technology of building point cloud maps based on computer vision has emerged. Through this technology, the three-dimensional spatial structure of real scenes can be recovered from image sequences. This technology is also used in application scenarios such as intelligent robot navigation. One of the key technologies used. [0003] Structure From Motion (SFM) can be based on the correlation information of two-dimensional key points between images, and gradually use multi-view geometric information to restore image positions and key point coordinates. For robustness, incremental Mapping frameworks are widely used. [0004] The current technology for constructing point cloud maps usually treats each i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06T7/38G06T7/33G06T7/73
CPCG06T17/05G06T7/38G06T7/33G06T7/73G06T2207/10016G06T2207/10028
Inventor 刘毅张腾
Owner GUANGZHOU SHIYUAN ELECTRONICS CO LTD
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