Simultaneous positioning and mapping system and its map soft switching method, storage medium

Abstract

The invention discloses a simultaneous positioning and mapping system, its map soft switching method, and a computer-readable storage medium. The method includes the following steps: after establishing a connection with a terminal, receiving the first map data and pose sent by the terminal information; after the terminal is initialized, use the pre-stored second map data to optimize the first map data and pose information, and send the optimized first map data to the terminal; if detected When the terminal enters the set area associated with the jurisdiction area, the relevant data of the terminal is sent to the cloud node, so that the cloud node can switch the map of the terminal. The present invention solves the problem of being unable to provide advanced SLAM services that can interact with the environment due to insufficient computing power and algorithm capabilities, realizes the semantic perception of the environment and provides the effect of providing advanced SLAM services that can interact with the environment, and improves multi- Switching efficiency of a local advanced SLAM map.

Description

technical field [0001] The present application relates to the technical field of simultaneous positioning and mapping, and in particular to a simultaneous positioning and mapping system, a map soft switching method thereof, and a computer-readable storage medium. Background technique [0002] Existing Simultaneous Localization And Mapping (SLAM) 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 perceptual mapping of the environment are based on 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. A small number of device-cloud collaborative SLAM solutions also focus on the method of establishing a basic map. Although the ba...

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Problems solved by technology

[0003] The embodiment of the present application solves the problem of being unable to provide advanced SLAM services that can interact with the environment due to insufficient computing power and algorithm capabilities by providing a simultaneous positioning and mapping system, its map soft switching method, and a computer-readable storage medium. It realizes the effect of satisfying the semantic perception of the environment and providing advanced SLAM services that can interact with the environment, and improves the switching efficiency of multiple local advanced SLAM maps

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