SLAM system optimization method, device, and storage medium based on hierarchical anchor point graph structure

Abstract

This invention discloses a method, apparatus, and storage medium for optimizing a SLAM system based on a hierarchical anchor point graph structure. The method includes acquiring and preprocessing sensor data, constructing a hierarchical anchor point architecture consisting of structural anchor points, appearance anchor points, global anchor points, and dynamic anchor points, constraining Gaussian point distribution through anchor points, mapping camera poses to appearance encoding, associating absolute coordinates, handling dynamic interference, and then achieving efficient sharing through the anchor point graph. This method enhances adaptability to dynamic environments, optimizes resource efficiency, improves map fidelity and robustness, and reduces bandwidth pressure in multi-machine collaboration, making it suitable for scenarios such as autonomous driving and robot navigation.

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