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Generation method and system of coarse resolution map, electronic device and storage medium

A generation system and resolution technology, which is applied in measurement devices, image memory management, image data processing, etc., can solve the problems of long generation time and difficulty in generating coarse resolution maps, reducing generation time, reducing repeated traversal, The effect of reducing the difficulty of spawning

Active Publication Date: 2019-09-20
SHENZHEN UNIV
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Problems solved by technology

[0005] The main purpose of the present invention is to provide a method, system, electronic device and storage medium for generating a coarse-resolution map, aiming to solve the technical problems in the prior art that the generation of a coarse-resolution map is difficult and takes a long time

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  • Generation method and system of coarse resolution map, electronic device and storage medium

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Embodiment Construction

[0021] In order to make the purpose, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described The embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts belong to the protection scope of the present invention.

[0022] see figure 1 , is a method for generating a coarse-resolution map, including: S1, traversing the pixel values ​​of each row of a sub-map, and storing the maximum pixel value record of each row in a pre-created temporary queue; S2, according to the temporary queue The maximum pixel value of each row constructs a temporary queue map; S3...

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Abstract

The invention discloses a generation method and system of a coarse resolution map, an electronic device and a storage medium, relates to the technical field of robot positioning. The generation method and system of the coarse resolution map are used for generating the coarse resolution map, solve the problems of high generation difficulty and long generation time of the coarse resolution map in the prior art. The generation method comprises the following steps: traversing pixel values of each row of a sub-map, and recording and storing the maximum pixel value of each row into a pre-created temporary queue; constructing a temporary queue map according to the maximum pixel value of each row in the temporary queue; traversing the pixel value of each column of the temporary queue map, and calculating and obtaining the maximum pixel value of each column of the temporary queue map; replacing the pixel value of each column of the sub-map with the maximum pixel value of each column of the temporary queue map to obtain a coarse resolution map of the sub-map; calculating coarse resolution maps of all the sub-maps according to the above steps to obtain a coarse resolution map of the global map. The generation difficulty of the coarse resolution map is reduced, and the generation time is shortened.

Description

technical field [0001] The invention relates to the technical field of robot positioning, in particular to a method, system, electronic device and storage medium for generating a coarse-resolution map. Background technique [0002] In indoor application scenarios such as fire rescue and indoor service, it is often necessary to use robots to investigate the indoor environment, so that robots can take some actions instead of humans based on the investigation results. It plays a huge role in application scenarios that some people cannot reach. When the robot detects the indoor environment, the robot first needs to generate an indoor map. [0003] In the existing technology, in order to ensure the real-time performance of the map generated by the robot, a coarse-to-fine method is used, that is, the coarse-resolution map is first generated, and then the fine-resolution map is generated according to the coarse-resolution map, and the coarse-resolution map is generated. The main ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T3/40G06T1/60G01C21/20
CPCG06T3/4023G06T1/60G01C21/206Y02D10/00
Inventor 蒙山陆先念
Owner SHENZHEN UNIV
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