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Manufacturing method and device for three-dimensional map of indoor environment

An indoor environment and three-dimensional map technology, applied in image data processing, 3D modeling, instruments, etc., can solve the problems of weak map environment expression ability, poor visualization effect, and no consideration of the depth characteristics of indoor environment, and achieve environmental expression ability. The effect of strong and good visualization

Inactive Publication Date: 2016-06-15
HUNAN VISUALTOURING INFORMATION TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] However, in the process of making a 3D map of the indoor environment in the prior art, only the 2D image features of the indoor environment are considered during feature extraction, and the depth features of the indoor environment are not taken into account, resulting in weak ability to express the final map environment , poor visualization

Method used

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  • Manufacturing method and device for three-dimensional map of indoor environment
  • Manufacturing method and device for three-dimensional map of indoor environment
  • Manufacturing method and device for three-dimensional map of indoor environment

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Embodiment 1

[0048] figure 1 A first schematic flowchart of the method for making a three-dimensional map of the indoor environment provided by the first embodiment of the present invention is shown. Such as figure 1 As shown, the method for making an indoor environment three-dimensional map in this embodiment includes the following steps:

[0049] Step 102, collect an indoor environment image through a three-dimensional vision sensor, the indoor environment image includes a color image and a depth image, and convert the depth image into point cloud data.

[0050] Considering that the 3D vision sensor has the advantages of convenience, economy, and large amount of information, it is preferable to use a cheap 3D vision sensor (such as Kinect, Tango, Kinect2 generation, RealSense, AsusXtion, etc.) to acquire color images and depth images of the indoor environment. In particular, Kinect series sensors have the advantages of stable working effect and no interference from the visible spectrum...

Embodiment 2

[0091] Corresponding to the above-mentioned method for making a three-dimensional map of the indoor environment, an embodiment of the present invention further provides a device for making a three-dimensional map of the indoor environment, which is used to execute the above-mentioned method for making a three-dimensional map of the indoor environment.

[0092] Figure 4 It shows the first schematic structure of the indoor environment three-dimensional map making device provided by the second embodiment of the present invention, as shown in Figure 4 As shown, the device in this embodiment includes:

[0093] The image acquisition module 41 is used to collect indoor environment images through the three-dimensional visual sensor, the indoor environment images include color images and depth images, and convert the depth images into point cloud data;

[0094] Key frame determining module 42, for extracting feature vector from color image and depth image, determine the key frame im...

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Abstract

The present invention provides a manufacturing method and a device for the three-dimensional map of an indoor environment. The method comprises the steps of acquiring the images of the indoor environment via a three-dimensional vision sensor, wherein the images of the indoor environment are composed of a color image and a depth image; converting the depth image into point cloud data; extracting a feature vector out of the color image and the depth image; determining the key-frame images of the images of the indoor environment according to the feature vector; in combination with the point cloud data, calculating transformation parameters among the key-frame images; according to the transformation parameters among the key-frame images, connecting all the key-frame images to generate a three-dimensional point cloud map of the indoor environment; and manufacturing the three-dimensional map of the indoor environment according to the three-dimensional point cloud map. According to the technical scheme of the invention, the three-dimensional map can be manufactured based on the depth features of the indoor environment, so that the manufactured three-dimensional map is good in expressing ability and better in visual effect.

Description

technical field [0001] The invention relates to the field of modeling, in particular to a method and device for making a three-dimensional map of an indoor environment. Background technique [0002] With the popularity and application of the Internet, mobile communications, mobile positioning, and smart mobile terminals, location-based services have become an important basic support for building smart cities, realizing smart transportation, responding to natural disasters, and embodying public services. From a technical point of view, the provision of location services mainly depends on the establishment of maps. In recent years, with the rapid development of computer technology, especially computer graphics, network, multimedia, virtual reality technology, and 3D simulation technology, maps are developing in the direction of 3D. [0003] For the location service of the indoor environment, the prior art provides various methods for establishing a three-dimensional map of th...

Claims

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Application Information

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IPC IPC(8): G06T17/05
CPCG06T17/05
Inventor 马燕新李洪
Owner HUNAN VISUALTOURING INFORMATION TECH CO LTD
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