3D Environment Map Updating with Virtual Feature Points
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Solution Overview
Problem
Existing VSLAM systems generate low-quality environment maps with significant errors in virtual images due to inaccuracies in 3D information, leading to low reproducibility of the real-world environment.
Innovation Solution
A map generation apparatus and method that utilizes Structure from Motion (SfM) to create a three-dimensional map, generates virtual images from a virtual viewpoint, and updates the map with high-accuracy virtual feature points to improve the quality of the environment map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If virtual images are generated using 3D information at an early stage of VSLAM process, then the VSLAM process can proceed, but the virtual images have large errors and low quality
Solution Approach 1:
The patent applies preliminary action by generating virtual images using 3D information obtained at an early stage of VSLAM process, before the 3D information has high accuracy. This allows the VSLAM process to proceed while accepting that the virtual images will have errors that are later corrected through map updates.
Solution Approach 2:
The patent implements feedback by continuously updating the environment map with newly acquired 3D information as the VSLAM process progresses. This feedback mechanism corrects the initial errors in virtual images generated from inaccurate 3D data, progressively improving map quality and consistency.
2Speed
If VSLAM process is performed immediately to enable autonomous robot movement, then real-time localization is achieved, but the environment map quality deteriorates due to large errors in early-stage 3D information
Solution Approach 1:
The system performs preliminary VSLAM processing immediately to enable real-time autonomous robot movement and localization. This preliminary action provides fast initial results while understanding that map quality will be improved through subsequent updates as more data is collected.
Solution Approach 2:
The environment map is designed to be dynamic and continuously updated as the VSLAM process progresses. The map transitions from initial low-quality state to high-quality state over time, allowing the system to maintain both real-time processing capability and progressively improving accuracy.
Data Source
AI summary
An object is to provide a map generation apparatus for improving the quality of an environment map created using virtual images. A map generation apparatus (10) according to the present disclosure includes: a map generation unit (11) configured to generate a three-dimensional map showing an environment around a photographing device by identifying shooting locations of a plurality of still images shot by the photographing device and restoring three-dimensional positions of feature points marked in each image of the plurality of the still images; a generation unit (12) configured to generate a virtual image when the three-dimensional positions of each of the feature points on the three-dimensional map corresponding to the feature points in the still images are shot from a virtual viewpoint; and an update unit (13) configured to update the three-dimensional map with reference to the virtual feature points in the virtual image.