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Map construction method and device, SLAM system and storage medium

A map construction and map technology, applied in image enhancement, image analysis, image data processing, etc., can solve the problem of low efficiency of map construction

Pending Publication Date: 2021-03-05
PENG CHENG LAB +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The main purpose of the present invention is to provide a map construction method, device, SLAM system and storage medium, aiming to solve the problem of low map construction efficiency in the prior art when using the target image of the monocular camera for map construction using the existing method technical issues

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  • Map construction method and device, SLAM system and storage medium
  • Map construction method and device, SLAM system and storage medium
  • Map construction method and device, SLAM system and storage medium

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Embodiment Construction

[0076] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0077] refer to figure 1 , is a schematic structural diagram of the SLAM system of the hardware operating environment involved in the solution of the embodiment of the present invention.

[0078] Generally, a SLAM system includes: a camera 307, at least one processor 301, a memory 302, and a fusion frame obtaining program stored on the memory and operable on the processor, the fusion frame obtaining program is configured to implement the above The st...

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Abstract

The invention discloses a map construction method which is applied to an SLAM system comprising N cameras, and the method comprises the following steps: obtaining target images of a target region through the N cameras, N being a positive integer greater than or equal to 2; according to the target images, obtaining fusion frames, wherein the target images of the N cameras at the same moment correspond to one fusion frame; judging whether the fusion frames meet a first preset condition or not; when the fusion frames meet the first preset condition, adding the fusion frames to a key frame queue;and constructing a map of the target region by utilizing the key frame queue. The invention further discloses a map construction device, an SLAM system and a storage medium. When the method is used for constructing the map of the target area, the data processing amount is small, and the mapping efficiency is high.

Description

technical field [0001] The present invention relates to the field of map construction, in particular to a map construction method, device, SLAM system and storage medium. Background technique [0002] The SLAM system is used to achieve real-time positioning or map construction. Due to its miniaturization and economy, it is widely used on lightweight platforms such as AR / MR glasses and quadrotor drones. The SLAM system includes a monocular camera, a stereo vision camera or a depth color camera. The SLAM system acquires multiple target images at different times in the target area through the monocular camera, performs tracking and matching on multiple target images, and completes local mapping processing. [0003] However, when using the existing method to construct a map using the target image of a monocular camera, the map construction efficiency is low. Contents of the invention [0004] The main purpose of the present invention is to provide a map construction method, d...

Claims

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Application Information

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IPC IPC(8): G06T5/50
CPCG06T5/50G06T2207/10004G06T2207/20221G06T2207/30244
Inventor 陈俊宏王维翰姜军柳伟何震宇田第鸿
Owner PENG CHENG LAB
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