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Map processing method and device, robot and storage medium

A processing method and map technology, applied in the field of image processing, can solve the problems of map image lines messy, unsightly, map information display is not intuitive, etc., to achieve the effect of beautifying the outline and improving the aesthetics

Pending Publication Date: 2022-08-05
微思机器人(深圳)有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, the robot can obtain map images based on its own sensors for users to use; however, in the process of obtaining map images through sensors, due to sensor errors, the obtained map images have messy lines, unsightly appearance, and map information display is not intuitive The problem

Method used

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  • Map processing method and device, robot and storage medium
  • Map processing method and device, robot and storage medium
  • Map processing method and device, robot and storage medium

Examples

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Embodiment 1

[0065] An embodiment of the present invention provides a map processing method, which is applied to a robot. Please refer to figure 1 , the map processing method will be described in detail below.

[0066] S110: Preprocess the acquired map image to obtain a binarized image.

[0067] In a possible implementation, as figure 2 As shown, step S110 may specifically include the following steps:

[0068] S111 , performing grayscale processing on the acquired map image to obtain a grayscale map.

[0069] S112 , using a Gaussian filter algorithm to blur the grayscale map to obtain a blurred image.

[0070] S113: Perform binarization processing on the blurred image to obtain a binarized image.

[0071] The robot can obtain raw map images through sensors and the Slam algorithm, such as image 3 As shown in the original map image (the original image is in color), there are many burrs on the black edge of the wall in the original map image; the wall is not straight or flat, that is, ...

Embodiment 2

[0099] Please refer to Figure 12 , the embodiment of the present invention also provides a map processing device, the device includes:

[0100] The preprocessing module 11 is used for preprocessing the acquired map image to obtain a binarized image;

[0101] an outline extraction module 12, configured to perform outline extraction on the binarized image to obtain a first outline image;

[0102] The polygon approximation processing module 13 is configured to use the polygon approximation contour algorithm to perform polygon approximation processing on each contour in the first contour image to obtain a second contour image;

[0103] The contour adjustment module 14 is configured to adjust the position of the designated endpoints on each continuous contour in the second contour image to obtain a third contour image, wherein the continuous contour includes a plurality of non-collinear continuous line segments, and the The specified endpoint is the endpoint of the continuous li...

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Abstract

The invention discloses a map processing method and device, a robot and a storage medium. The method comprises the following steps: preprocessing an obtained map image to obtain a binary image; performing contour extraction on the binary image to obtain a first contour image; performing polygon approximation processing on each contour in the first contour image by adopting a polygon approximation contour algorithm to obtain a second contour image; adjusting the position of a specified end point on each continuous contour in the second contour image to obtain a third contour image; and generating a beautified map based on the third contour image. According to the method, polygon approximation processing is carried out on the contours according to the contours, and then the specified endpoint positions of the continuous contours are adjusted, so that the contours are beautified, the map image is beautified, and the aesthetics of the map image is improved.

Description

technical field [0001] The present invention relates to the field of image processing, in particular to a map processing method, device, robot and storage medium. Background technique [0002] With the development of artificial intelligence, the research of robots has received more and more attention and investment, and the positioning and map creation and acquisition of robots are hot research issues in the field of robotics. At present, robots can obtain map images based on their own sensors for users to use; however, in the process of obtaining map images through sensors, due to sensor errors, the obtained map images have cluttered lines, unsightly lines, and unintuitive display of map information. The problem. [0003] Therefore, how to process the acquired map image by the robot to improve the aesthetics of the map image acquired by the robot is an urgent problem to be solved. SUMMARY OF THE INVENTION [0004] In view of this, the purpose of the present invention is...

Claims

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Application Information

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IPC IPC(8): G06T17/05
CPCG06T17/05
Inventor 何晶张磊
Owner 微思机器人(深圳)有限公司
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