Simultaneous positioning and mapping method, system, device and storage medium

Abstract

The invention discloses a simultaneous positioning and mapping method, system, equipment and storage medium. The method includes: when entering the communication range of any edge node, establishing communication with at least one communicable edge node; the edge node stores the first map data within a set range centered on the edge node; The second map data and location data are sent to the edge nodes that have established communication; wherein, the first map data has denser point cloud data than the second map data, and the point cloud data of the first map data has semantic labels; obtain the edge The optimized second map data sent by the node; updating its own second map data according to the optimized second map data. It solves the problem of insufficient computing power, storage capacity and energy consumption in the advanced SLAM process of real-time interaction with the environment, and achieves the effect of satisfying the semantic perception of the environment and the high-level SLAM precision service of real-time interaction with the environment.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a SLAM method based on an edge computing network. Background technique [0002] Existing SLAM (Simultaneous localization and mapping, simultaneous localization and mapping technology) schemes can be divided into stand-alone SLAM and multi-machine SLAM. At present, most of the research schemes are mainly stand-alone SLAM, that is, positioning and perception of the environment. It is completed on the same mobile device, but due to the limitations of computing power and power consumption of the mobile platform, this type of SLAM solution cannot create high-precision detailed maps, and a small number of multi-machine SLAM solutions can only complete basic mapping tasks. The basic map can basically meet the needs of device positioning, but it is far from meeting the needs of application services such as semantic perception of the environment and providing advanced interaction between de...

AI Technical Summary

Problems solved by technology

[0003] The embodiment of the present application solves the technical problem of insufficient computing power, storage capacity and energy consumption in the advanced SLAM process of real-time interaction with the environment by providing a method for simultaneous positioning and mapping, and achieves the semantic perception of the environment and the ability to communicate with the environment. The technical effect of advanced SLAM precision service with real-time interaction with the environment

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