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Map construction method and device, electronic device and storage medium

A map construction and mobile device technology, applied in the computer field, can solve the problems of low precision, real-time performance and low efficiency of three-dimensional maps, and achieve the effect of improving map construction efficiency and reasonable and efficient autonomous navigation operations

Active Publication Date: 2022-05-31
SHENZHEN SENSETIME TECH CO LTD
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  • Description
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AI Technical Summary

Problems solved by technology

[0003] However, in related technologies, the accuracy of self-positioning using inertial measurement units, wheel odometers, etc. is not high, and the real-time and efficiency of building 3D maps is not high by using image data collected by monocular cameras combined with 3D map construction technology

Method used

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  • Map construction method and device, electronic device and storage medium
  • Map construction method and device, electronic device and storage medium
  • Map construction method and device, electronic device and storage medium

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Embodiment Construction

[0034] Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures denote elements that have the same or similar functions. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

[0035] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0036] The term "and / or" in this article is only an association relationship to describe the associated objects, indicating that there can be three kinds of relationships, for example, A and / or B, it can mean that A exists alone, A and B exist at the same time, and A and B exist independently B these three cases. In additio...

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Abstract

The present disclosure relates to a method and device for constructing a map, an electronic device, and a storage medium. The method includes: obtaining a scene image and a depth image of a target scene collected by a mobile device, and obtaining a relative pose of the mobile device at the current moment; according to The scene image and the depth image determine the first spatial feature point of the target scene at a previous moment and the second spatial feature point at the current moment, the sequence of the previous moment is before the current moment, and the first spatial feature point and the Match the second spatial feature point; optimize the relative pose according to the first spatial feature point and the second spatial feature point, and obtain the positioning information of the mobile device at the current moment; determine the corresponding position of the target scene according to the positioning information and depth image The grid map is used to indicate the drivable area in the target scene, so that the mobile device can perform navigation according to the grid map. The embodiments of the present disclosure can improve the accuracy and efficiency of map construction.

Description

technical field [0001] The present disclosure relates to the field of computer technology, and in particular, to a map construction method and device, an electronic device, and a storage medium. Background technique [0002] Sweeping robots are used more and more in indoor cleaning. At present, sweeping robots are usually equipped with a variety of sensors, such as lidar, monocular camera, Inertial Measurement Unit (IMU), wheel odometer, etc. In order to comprehensively use various sensors for self-positioning, mapping, etc., to achieve autonomous navigation. Among them, autonomous navigation can be understood as using the constructed map and self-positioning information to carry out path planning, obstacle analysis, etc. in advance, so that the intelligent sweeping robot can perform mobile cleaning. [0003] However, in the related art, the accuracy of self-positioning using inertial measurement units, wheel odometers, etc. is not high, and the real-time and efficiency of ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/05G06T19/00G06T7/70G06T7/62G06V10/44G06T7/80
CPCG06T17/05G06T19/003G06T7/70G06T7/62G06T7/85G06T2207/10012G06T2207/10021G06T2207/20081G06T2207/30244G06V10/44G06V10/462
Inventor 张展鹏邓文钧龙有炼赵扬波于行尧成慧
Owner SHENZHEN SENSETIME TECH CO LTD
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