Multi-level scene reconstruction and rapid segmentation method, system and device for narrow space

Abstract

The invention belongs to the field of robot scene reconstruction, particularly relates to a multi-level scene reconstruction and rapid segmentation method, system and device for a narrow space, and aims to solve the problem that the reconstruction precision and calculation real-time performance of robot scene reconstruction and segmentation in the narrow space cannot be considered at the same time. The method comprises the following steps: taking a color image, a depth image, camera calibration data and robot spatial position and attitude information; converting sensor data into a single-framepoint cloud through coordinate conversion; dividing scales of the single-frame point cloud, carrying out ray tracing and probability updating to acquire a multi-level scene map after scale fusion; and performing downsampling twice and upsampling once on the scene map, performing lossless transformation by means of scales, and establishing a plurality of sub-octree maps based on a space segmentation result, thereby realizing multi-level scene reconstruction and rapid segmentation. On the premise that necessary details of the scene are not lost, dense reconstruction and algorithm acceleration are achieved, and application to actual engineering occasions is better facilitated.

Description

technical field [0001] The invention belongs to the field of robot scene reconstruction, and in particular relates to a multi-level scene reconstruction and rapid segmentation method, system and device in a narrow space. Background technique [0002] The navigation and decision-making of the robot in an unknown environment needs to rely on the perception of the environment. Specifically, it needs to combine the positioning information of the robot to reconstruct the three-dimensional environment of the operation scene, and divide the spatial composition of the operation scene from the three-dimensional environment. [0003] Depending on the type of map, scene reconstruction can be divided into two types: sparse reconstruction and dense reconstruction. The former generally only establishes a scene through the landmark points used for positioning, while the latter establishes a scene through all the measurement points of the sensor. In visual odometry, positioning and mapping ...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, the reconstruction and segmentation of the robot scene in a narrow space cannot take into account both the reconstruction accuracy and the real-time calculation, the present invention provides a multi-level scene reconstruction and fast segmentation method in a narrow space. include:

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