Three-dimensional multilayer environment model construction method based on interval estimation

Abstract

The invention discloses a three-dimensional multilayer environment model construction method based on interval estimation, which comprises the following steps: respectively acquiring environment perception data and pose estimation, and importing the environment perception data and pose estimation data into an existing three-dimensional environment modeling system; initializing an environment model according to a set resolution; enabling the the model to divide the ground into grids; waiting for obtaining new sensing data; when new sensing data is obtained, converting the coordinates to obtain coordinate positions corresponding to the starting point and the midpoint of the laser; performing interval estimation to obtain delimited interval estimation of a laser end point position; associating the grids and creating corresponding empty volume elements; creating corresponding entity elements according to the interval association grids; applying a constraint to the inserted new voxel to obtain a three-dimensional environment modeling model; and meanwhile, sending the new voxel as new sensing data. The environment model representation method has the advantages of being low in space complexity, capable of being updated in real time, capable of judging the occupancy state of any space position and the like.

Description

technical field [0001] The invention relates to the technical field of environmental models, in particular to a three-dimensional multi-layer environmental model construction method based on interval estimation. Background technique [0002] For a large amount of data acquired by each sensor, the project uses displacement criteria, feature criteria, and range criteria to extract necessary observation information, and first filters the acquired data to ensure the efficiency of system operation. However, when agricultural machinery perceives the environment, it is usually affected by environmental data errors, resulting in poor accuracy of environmental modeling. The errors mainly come from the uncertainty of the sensor itself, the positioning error of the platform itself, and the orientation and positioning error of the sensor. [0003] Therefore, it is necessary to provide a three-dimensional multi-layer environment model construction method based on interval estimation to e...

AI Technical Summary

Problems solved by technology

However, when agricultural machinery perceives the environment, it is usually affected by environmental data errors, resulting in poor accuracy of environmental modeling. The errors mainly come from the uncertainty of the sensor itself, the positioning error of the platform itself, and the orientation and positioning error of the sensor.

Images