WO2022134475A1

WO2022134475A1 - Point cloud map construction method and apparatus, electronic device, storage medium and program

Info

Publication number: WO2022134475A1
Application number: PCT/CN2021/097541
Authority: WO
Inventors: 蓝斌; 张凯; 王子彬
Original assignee: 深圳市慧鲤科技有限公司
Priority date: 2020-12-25
Filing date: 2021-05-31
Publication date: 2022-06-30
Also published as: CN112541971A; JP2023510474A; KR20220130707A; JP7316456B2

Abstract

A point cloud map construction method and apparatus, an electronic device, a storage medium, and a program. The method comprises: acquiring at least one target image obtained by performing image acquisition on a target area, wherein the target area comprises at least one scale calibration object of a known physical scale (S11); according to the at least one target image, constructing a first point cloud map corresponding to the target area (S12); and adjusting the first point cloud map according to the physical scale of the at least one scale calibration object to obtain a second point cloud map having a target physical scale (S13).

Description

点云地图构建方法及装置、电子设备、存储介质和程序Point cloud map construction method and device, electronic device, storage medium and program

相关申请的交叉引用CROSS-REFERENCE TO RELATED APPLICATIONS

本公开基于申请号为202011565328.X、申请日为2020年12月25日，名称为“点云地图构建方法及装置、电子设备和存储介质”的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本公开作为参考。The present disclosure is based on the Chinese patent application with the application number of 202011565328.X and the application date of December 25, 2020, entitled "Point Cloud Map Construction Method and Device, Electronic Device and Storage Medium", and requires the Chinese patent application Priority, the entire content of this Chinese patent application is hereby incorporated by reference into the present disclosure.

技术领域technical field

本公开涉及计算机技术领域，涉及但不限于一种点云地图构建方法及装置、电子设备、计算机存储介质和计算机程序。The present disclosure relates to the field of computer technology, and relates to, but is not limited to, a method and device for constructing a point cloud map, an electronic device, a computer storage medium, and a computer program.

背景技术Background technique

通过运动结构恢复(Structure From Motion，SFM)空间重建技术，可以对空间进行重建，构建得到相比于传统地图精度更高的点云地图。通过图像分析可以定位用户在点云地图中的位置，进而可以确定用户在现实世界空间中的位置，从而实现视觉定位。相关技术中，需要通过人工将点云地图与已知二维地图进行拼接对齐来调整点云地图的物理尺度，例如，已知二维地图可以是计算机辅助设计(Computer Aided Design，CAD)图。受人工熟练程度影响，拼接对齐过程存在误差，导致构建得到的点云地图的精度较低。Through the structure from motion (SFM) space reconstruction technology, the space can be reconstructed, and a point cloud map with higher accuracy than traditional maps can be constructed. Through image analysis, the user's position in the point cloud map can be located, and then the user's position in the real world space can be determined, thereby realizing visual positioning. In the related art, the physical scale of the point cloud map needs to be adjusted by manually splicing and aligning the point cloud map with a known two-dimensional map. For example, the known two-dimensional map may be a Computer Aided Design (CAD) map. Affected by manual proficiency, there are errors in the stitching and alignment process, resulting in low accuracy of the constructed point cloud map.

发明内容SUMMARY OF THE INVENTION

本公开提出了一种点云地图构建方法及装置、电子设备、存储介质和程序的技术方案。The present disclosure provides technical solutions for a point cloud map construction method and device, electronic equipment, storage medium and program.

本公开实施例提供了一种点云地图构建方法，包括：获取对目标区域进行图像采集得到的至少一个目标图像，其中，所述目标区域中包括物理尺度已知的至少一个尺度标定物；根据所述至少一个目标图像，构建所述目标区域对应的第一点云地图；根据所述至少一个尺度标定物的物理尺度，对所述第一点云地图进行调整，得到具有目标物理尺度的第二点云地图。An embodiment of the present disclosure provides a method for constructing a point cloud map, including: acquiring at least one target image obtained by image acquisition of a target area, wherein the target area includes at least one scale calibration object with a known physical scale; For the at least one target image, a first point cloud map corresponding to the target area is constructed; according to the physical scale of the at least one scale calibration object, the first point cloud map is adjusted to obtain a first point cloud map with the target physical scale. Two point cloud map.

本公开的一些实施例中，所述根据所述至少一个尺度标定物的物理尺度，对所述第一点云地图进行调整，得到具有目标物理尺度的第二点云地图，包括：确定所述至少一个尺度标定物在所述第一点云地图中的特征尺度；根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，对所述第一点云地图进行缩放调整，得到所述第二点云地图。In some embodiments of the present disclosure, the adjusting the first point cloud map according to the physical scale of the at least one scale calibration object to obtain a second point cloud map with a target physical scale includes: determining the The characteristic scale of at least one scale calibration object in the first point cloud map; according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object, the first point cloud map is Perform zoom adjustment to obtain the second point cloud map.

本公开的一些实施例中，所述根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，对所述第一点云地图进行缩放调整，得到所述第二点云地图，包括：根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，确定第一缩放比例；根据所述第一缩放比例，对所述第一点云地图进行缩放调整，得到所述第二点云地图。In some embodiments of the present disclosure, the first point cloud map is zoomed and adjusted according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object to obtain the first point cloud map. The two-point cloud map includes: determining a first scaling ratio according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object; The point cloud map is zoomed and adjusted to obtain the second point cloud map.

本公开的一些实施例中，所述根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，确定第一缩放比例，包括：在存在多个所述尺度标定物的情况下，针对任一所述尺度标定物，根据所述尺度标定物的物理尺度以及所述尺度标定物的特征尺度，确定所述尺度标定物对应的第二缩放比例；对多个所述尺度标定物对应的第二缩放比例进行平均，确定所述第一缩放比例。In some embodiments of the present disclosure, the determining the first scaling ratio according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object includes: when there are multiple scale calibration objects In the case of an object, for any of the scale calibration objects, the second scaling ratio corresponding to the scale calibration object is determined according to the physical scale of the scale calibration object and the characteristic scale of the scale calibration object; The second scaling ratio corresponding to the scale calibration object is averaged to determine the first scaling ratio.

本公开的一些实施例中，所述根据所述至少一个目标图像，构建所述目标区域对应的第一点云地图，包括：对所述至少一个目标图像进行特征提取，得到所述目标区域对应的特征信息；根据所述目标区域对应的特征信息，构建所述第一点云地图。In some embodiments of the present disclosure, the constructing the first point cloud map corresponding to the target area according to the at least one target image includes: performing feature extraction on the at least one target image to obtain the corresponding target area feature information; construct the first point cloud map according to the feature information corresponding to the target area.

本公开的一些实施例中，所述第一点云地图中包括所述至少一个尺度标定物对应的点云特征；所述确定所述至少一个尺度标定物在所述第一点云地图中的特征尺度，包括：根据所述至少一个尺度标定物在所述第一点云地图中对应的点云特征，确定所述至少一个尺度标定物在所述第一点云地图中的特征尺度。In some embodiments of the present disclosure, the first point cloud map includes point cloud features corresponding to the at least one scale calibration object; the determining of the at least one scale calibration object in the first point cloud map The feature scale includes: determining a feature scale of the at least one scale calibration object in the first point cloud map according to a point cloud feature corresponding to the at least one scale calibration object in the first point cloud map.

本公开的一些实施例中，所述尺度标定物包括以下至少一项：物理尺度已知的二维码、物理尺度已知的标定板。In some embodiments of the present disclosure, the scale calibration object includes at least one of the following: a two-dimensional code with a known physical scale, and a calibration plate with a known physical scale.

本公开的一些实施例中，所述方法还包括：根据所述第二点云地图，对所述目标区域进行视觉定位，得到视觉定位结果；根据所述视觉定位结果进行以下至少一种操作：增强现实(Augmented Reality，AR)导航、AR导览。In some embodiments of the present disclosure, the method further includes: performing visual positioning on the target area according to the second point cloud map to obtain a visual positioning result; and performing at least one of the following operations according to the visual positioning result: Augmented Reality (AR) navigation, AR tour.

本公开实施例还提供了一种点云地图构建装置，包括：图像获取模块，配置为获取对目标区域进行图像采集得到的至少一个目标图像，其中，所述目标区域中包括物理尺度已知的至少一个尺度标定物；点云地图构建模块，配置为根据所述至少一个目标图像，构建所述目标区域对应的第一点云地图；尺度调整模块，配置为根据所述至少一个尺度标定物的物理尺度，对所述第一点云地图进行调整，得到具有目标物理尺度的第二点云地图。An embodiment of the present disclosure further provides a point cloud map construction device, including: an image acquisition module configured to acquire at least one target image obtained by image acquisition of a target area, wherein the target area includes a target area with a known physical scale. at least one scale calibration object; a point cloud map construction module configured to construct a first point cloud map corresponding to the target area according to the at least one target image; a scale adjustment module configured to construct a first point cloud map corresponding to the target area according to the at least one target image; Physical scale, the first point cloud map is adjusted to obtain a second point cloud map with the target physical scale.

本公开的一些实施例中，所述尺度调整模块，包括：确定子模块，配置为确定所述至少一个尺度标定物在所述第一点云地图中的特征尺度；尺度缩放子模块，配置为根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，对所述第一点云地图进行缩放调整，得到所述第二点云地图。In some embodiments of the present disclosure, the scale adjustment module includes: a determination sub-module configured to determine a characteristic scale of the at least one scale calibration object in the first point cloud map; a scale scaling sub-module configured to According to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object, zoom and adjust the first point cloud map to obtain the second point cloud map.

本公开的一些实施例中，所述尺度缩放子模块，包括：确定单元，配置为根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，确定第一缩放比例；尺度缩放单元，配置为根据所述第一缩放比例，对所述第一点云地图进行缩放调整，得到所述第二点云地图。In some embodiments of the present disclosure, the scale scaling submodule includes: a determining unit configured to determine the first scaling according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object A scale; a scale scaling unit configured to zoom and adjust the first point cloud map according to the first scaling ratio to obtain the second point cloud map.

本公开的一些实施例中，所述确定单元，具体配置为：在存在多个所述尺度标定物的情况下，针对任一所述尺度标定物，根据所述尺度标定物的物理尺度以及所述尺度标定物的特征尺度，确定所述尺度标定物对应的第二缩放比例；对多个所述尺度标定物对应的第二缩放比例进行平均，确定所述第一缩放比例。In some embodiments of the present disclosure, the determining unit is specifically configured to: in the case of a plurality of the scale calibration objects, for any of the scale calibration objects, according to the physical size of the scale calibration object and the The characteristic scale of the scale calibration object is determined, and the second scaling ratio corresponding to the scale calibration object is determined; the second scaling ratio corresponding to a plurality of the scale calibration objects is averaged to determine the first scaling ratio.

本公开的一些实施例中，所述点云地图构建模块，包括：特征提取子模块，配置为对所述至少一个目标图像进行特征提取，得到所述目标区域对应的特征信息；点云地图构建子模块，配置为根据所述目标区域对应的特征信息，构建所述第一点云地图。In some embodiments of the present disclosure, the point cloud map construction module includes: a feature extraction sub-module configured to perform feature extraction on the at least one target image to obtain feature information corresponding to the target area; point cloud map construction A sub-module configured to construct the first point cloud map according to the feature information corresponding to the target area.

本公开的一些实施例中，所述第一点云地图中包括所述至少一个尺度标定物对应的点云特征；所述确定子模块，具体配置为：根据所述至少一个尺度标定物在所述第一点云地图中对应的点云特征，确定所述至少一个尺度标定物在所述第一点云地图中的特征尺度。In some embodiments of the present disclosure, the first point cloud map includes point cloud features corresponding to the at least one scale calibration object; the determining sub-module is specifically configured to: according to the at least one scale calibration object The corresponding point cloud features in the first point cloud map are determined, and the feature scale of the at least one scale calibration object in the first point cloud map is determined.

本公开的一些实施例中，所述装置还包括：视觉定位模块，配置为根据所述第二点云地图，对所述目标区域进行视觉定位，得到视觉定位结果；AR模块，配置为根据所述视觉定位结果进行以下至少一种操作：AR导航、AR导览。In some embodiments of the present disclosure, the apparatus further includes: a visual positioning module, configured to perform visual positioning on the target area according to the second point cloud map to obtain a visual positioning result; an AR module configured to perform visual positioning according to the second point cloud map. Perform at least one of the following operations on the visual positioning result: AR navigation, AR navigation.

根据本公开的一方面，提供了一种电子设备，包括：处理器；配置为存储处理器可执行指令的存储器；其中，所述处理器被配置为调用所述存储器存储的指令，以执行上述方法。According to an aspect of the present disclosure, there is provided an electronic device, comprising: a processor; a memory configured to store instructions executable by the processor; wherein the processor is configured to invoke the instructions stored in the memory to execute the above method.

根据本公开的一方面，提供了一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。According to an aspect of the present disclosure, there is provided a computer-readable storage medium having computer program instructions stored thereon, the computer program instructions implementing the above method when executed by a processor.

本公开实施例还提供了一种计算机程序，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现上述任意一种方法。Embodiments of the present disclosure also provide a computer program, including computer-readable codes, when the computer-readable codes are executed in an electronic device, the processor in the electronic device executes any one of the above methods.

在本公开实施例中，通过对包括物理尺度已知的至少一个尺度标定物的目标区域进行图像采集，得到至少一个目标图像，以及根据至少一个目标图像，构建目标区域对应的第一点云地图，进而根据至少一个尺度标定物的物理尺度，对第一点云地图进行调整，得到具有目标物理尺度的第二点云地图。利用目标区域中物理尺度已知的至少一个尺度标定物对构建得到的第一点云地图进行尺度标定，使得可以得到具有目标物理尺度的第二点云地图，从而有效提高点云地图的建图精度。In the embodiment of the present disclosure, at least one target image is obtained by performing image acquisition on a target area including at least one scale calibration object whose physical scale is known, and a first point cloud map corresponding to the target area is constructed according to the at least one target image , and then adjust the first point cloud map according to the physical scale of the at least one scale calibration object to obtain a second point cloud map with the target physical scale. The constructed first point cloud map is calibrated by using at least one scale calibration object whose physical scale is known in the target area, so that the second point cloud map with the target physical scale can be obtained, thereby effectively improving the construction of the point cloud map. precision.

应当理解的是，以上的一般描述和后文的细节描述仅是示例性和解释性的，而非限制本公开。根据下面参考附图对示例性实施例的详细说明，本公开的其它特征及方面将变得清楚。It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments with reference to the accompanying drawings.

附图说明Description of drawings

此处的附图被并入说明书中并构成本说明书的一部分，这些附图示出了符合本公开的实施例，并与说明书一起用于说明本公开的技术方案。The accompanying drawings, which are incorporated into and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and together with the description, serve to explain the technical solutions of the present disclosure.

图1为本公开实施例的一种点云地图构建方法的流程图；1 is a flowchart of a method for constructing a point cloud map according to an embodiment of the present disclosure;

图2为本公开实施例的一种尺度标定物的示意图；2 is a schematic diagram of a scale calibration object according to an embodiment of the disclosure;

图3为本公开实施例的一种尺度标定物的示意图；3 is a schematic diagram of a scale calibration object according to an embodiment of the disclosure;

图4为本公开实施例的一种点云地图构建装置的框图；4 is a block diagram of an apparatus for constructing a point cloud map according to an embodiment of the present disclosure;

图5为本公开实施例的一种电子设备的框图；5 is a block diagram of an electronic device according to an embodiment of the disclosure;

图6为本公开实施例的一种电子设备的框图。FIG. 6 is a block diagram of an electronic device according to an embodiment of the disclosure.

具体实施方式Detailed ways

以下将参考附图详细说明本公开的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。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.

在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。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.

本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中术语“至少一种”表示多种中的任意一种或多种中的至少两种的任意组合，例如，包括A、B、C中的至少一种，可以表示包括从A、B和C构成的集合中选择的任意一个或多个元素。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 addition, the term "at least one" herein refers to any combination of any one of the plurality or at least two of the plurality, for example, including at least one of A, B, and C, and may mean including from A, B, and C. Any one or more elements selected from the set of B and C.

另外，为了更好地说明本公开，在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解，没有某些具体细节，本公开同样可以实施。在一些实例中，对于本领域技术人员熟知的方法、手段、元件和电路未作详细描述，以便于凸显本公开的主旨。In addition, in order to better illustrate the present disclosure, numerous specific details are set forth in the following detailed description. It will be understood by those skilled in the art that the present disclosure may be practiced without certain specific details. In some instances, methods, means, components and circuits well known to those skilled in the art have not been described in detail so as not to obscure the subject matter of the present disclosure.

传统的二维激光机器人同时定位与建图(Simultaneous Localization and Mapping，SLAM)技术和虚拟服务器(Virtual Private Server，VPS)定位技术相结合，可以实现在未知环境中进行定位的同时构建地图，然后以此地图为基础可进行路径规划与导航。初始时刻，通过VPS定位技术确定当前设备在定位建图场景中的初始位姿信息。根据初始位姿信息，利用SLAM技术中的六自由度(6 degree of freedom，6Dof设备的上下、左右、前后动作)跟踪能力，跟踪设备在定位建图场景空间内的位姿信息，从而实现在定位建图场景中进行定位的同时构建地图，进而实现路径规划与导航。但是，由于跟踪过程中会产生累积误差(受限于设备的惯性导航***(Inertial measurement unit，IMU)的精度、视觉特征点的丰富程度等)，在将上述定位与建图方法应用于AR场景的情况下，在用户感官层面，AR物体会偏离原来的位置。为了消除累计误差，采用SFM空间重建技术对空间进行重建，可以构建得到精度较高的点云地图。为了将点云地图应用于AR场景，需要使得点云地图与现实场景相吻合(例如，物理尺度相匹配)。相关技术中，在采用SFM空间重建技术对目标区域构建点云地图之后，通过将点云地图与目标区域的CAD图拼接对齐，以实现点云地图与现实场景相吻合。但是，受人工熟练程度影响，在点云地图与CAD图拼接对齐过程存在误差，而且一般在拼接对齐之后显示AR场景时才能发现误差，进而调整对齐降低误差，使得消除误差流程链路较长，拼接对齐成本较高，建图精度较低。本公开实施例中，提供了一种点云地图构建方法，可以无需与CAD图进行拼接对齐，直接得到与现实场景的物理尺度匹配的点云地图，从而有效提高点云地图的建图精度。The combination of traditional two-dimensional laser robot simultaneous localization and mapping (Simultaneous Localization and Mapping, SLAM) technology and virtual server (Virtual Private Server, VPS) positioning technology can realize positioning in an unknown environment while building a map, and then use This map is the basis for route planning and navigation. At the initial moment, the VPS positioning technology is used to determine the initial pose information of the current device in the positioning and mapping scene. According to the initial pose information, the six degrees of freedom (6 degrees of freedom, 6Dof device's up and down, left and right, and front and rear movements) tracking capabilities in SLAM technology are used to track the device's pose information in the location and mapping scene space, so as to achieve In the positioning and mapping scene, a map is constructed while positioning, and then path planning and navigation are realized. However, due to the accumulated error in the tracking process (limited by the accuracy of the device's Inertial measurement unit (IMU), the richness of visual feature points, etc.), the above positioning and mapping methods are applied to AR scenes. In the case of the user's sensory level, the AR object will deviate from the original position. In order to eliminate the cumulative error, the SFM space reconstruction technology is used to reconstruct the space, and a point cloud map with higher accuracy can be constructed. In order to apply a point cloud map to an AR scene, it is necessary to make the point cloud map match the real scene (eg, match the physical scale). In the related art, after the point cloud map is constructed for the target area by using the SFM space reconstruction technology, the point cloud map and the CAD image of the target area are spliced and aligned to realize the coincidence of the point cloud map with the real scene. However, due to the influence of human proficiency, there is an error in the process of splicing and aligning the point cloud map and the CAD image, and generally, the error can only be found when the AR scene is displayed after the splicing and alignment, and then the alignment is adjusted to reduce the error, which makes the error elimination process link longer. The cost of stitching and alignment is high, and the mapping accuracy is low. In the embodiment of the present disclosure, a method for constructing a point cloud map is provided, which can directly obtain a point cloud map matching the physical scale of a real scene without splicing and aligning with a CAD image, thereby effectively improving the mapping accuracy of the point cloud map.

图1为根据本公开实施例的一种点云地图构建方法的流程图，该方法可以由终端设备或服务器等电子设备执行，终端设备可以为用户设备(User Equipment，UE)、移动设备、用户终端、终端、蜂窝电话、无绳电话、个人数字处理(Personal Digital Assistant，PDA)、手持设备、计算设备、车载设备、可穿戴设备等，该方法可以通过处理器调用存储器中存储的计算机可读指令的方式来实现。或者，可通过服务器执行该方法。如图1所示，该方法可以包括：1 is a flowchart of a method for constructing a point cloud map according to an embodiment of the present disclosure. The method can be executed by an electronic device such as a terminal device or a server. The terminal device can be a user equipment (User Equipment, UE), a mobile device, a user Terminal, terminal, cellular phone, cordless phone, Personal Digital Assistant (PDA), handheld device, computing device, vehicle-mounted device, wearable device, etc., the method can call the computer-readable instructions stored in the memory through the processor way to achieve. Alternatively, the method can be performed by a server. As shown in Figure 1, the method may include:

在步骤S11中，获取对目标区域进行图像采集得到的至少一个目标图像，其中，目标区域中包括物理尺度已知的至少一个尺度标定物。In step S11, at least one target image obtained by image acquisition of the target area is acquired, wherein the target area includes at least one scale calibration object whose physical scale is known.

在步骤S12中，根据至少一个目标图像，构建目标区域对应的第一点云地图。In step S12, a first point cloud map corresponding to the target area is constructed according to at least one target image.

在步骤S13中，根据至少一个尺度标定物的物理尺度，对第一点云地图进行调整，得到具有目标物理尺度的第二点云地图。In step S13, the first point cloud map is adjusted according to the physical scale of the at least one scale calibration object to obtain a second point cloud map with the target physical scale.

利用目标区域中物理尺度已知的至少一个尺度标定物对构建得到的第一点云地图进行尺度标定，使得可以得到具有目标物理尺度的第二点云地图，从而有效提高点云地图的建图精度。The constructed first point cloud map is calibrated by using at least one scale calibration object whose physical scale is known in the target area, so that the second point cloud map with the target physical scale can be obtained, thereby effectively improving the construction of the point cloud map. precision.

在本公开的一些实施例中，尺度标定物包括以下至少一项：物理尺度已知的二维码、物理尺度已知的标定板。In some embodiments of the present disclosure, the scale calibration object includes at least one of the following: a two-dimensional code with a known physical scale, and a calibration plate with a known physical scale.

尺度标定物是指算法能够识别且有明确的边界以限制物理尺度大小的标志图像。图2示出根据本公开实施例的一种尺度标定物的示意图。如图2所示，尺度标定物是物理尺度为30cm×30cm的二维码。图3示出根据本公开实施例的一种尺度标定物的示意图。如图3所示，尺度标定物是物理尺度为40cm×40cm的标定板。A scaler is an image of a sign that the algorithm can recognize and that has clear boundaries to limit the size of the physical scale. FIG. 2 shows a schematic diagram of a scaler according to an embodiment of the present disclosure. As shown in Figure 2, the scale calibration object is a two-dimensional code with a physical size of 30cm×30cm. FIG. 3 shows a schematic diagram of a scaler according to an embodiment of the present disclosure. As shown in Figure 3, the scale calibration object is a calibration plate with a physical size of 40cm×40cm.

在需要构建点云地图的目标区域内放置物理尺度已知的至少一个尺度标定物，使得对目标区域进行图像采集后，得到的目标图像中包括该至少一个尺度标定物的图像。例如，需要对某建筑构建点云地图的情况下，在该建筑场景中放置物理尺度已知的N个尺度标定物，N≥1，为了区分各尺度标定物，对各尺度标定物进行编号(n1，n2……)，各尺度标定物的物理尺度是已知的，例如，各尺度标定物的物理尺度包括各尺度标定物的宽度w和高度h：(n1，w1，h1)、(n2，w2，h2) 、……。对建筑场景进行图像采集，得到至少一个目标图像。由于建筑场景中放置有N个尺度标定物，因此，采集得到的各目标图像中包括该N个尺度标定物的图像。本公开实施例中，目标区域中尺度标定物的个数和物理尺度可以根据实际情况确定，本公开对此不作具体限定。 At least one scale calibration object with known physical scale is placed in the target area where a point cloud map needs to be constructed, so that after image acquisition of the target area, the obtained target image includes the image of the at least one scale calibration object. For example, when a point cloud map needs to be constructed for a building, N scale calibration objects with known physical scales are placed in the building scene, N ≥ 1. In order to distinguish each scale calibration object, each scale calibration object is numbered ( n1, n2...), the physical scale of each scale calibration object is known, for example, the physical scale of each scale calibration object includes the width w and height h of each scale calibration object: (n1, w1, h1), (n2 , w2, h2) , ……. Image acquisition is performed on the architectural scene to obtain at least one target image. Since there are N scale calibration objects placed in the building scene, each target image acquired includes the images of the N scale calibration objects. In the embodiment of the present disclosure, the number and physical scale of the scale calibration objects in the target area may be determined according to the actual situation, which is not specifically limited in the present disclosure.

在本公开的一些实施例中，也可以是将目标区域内尺度已知的目标物体作为尺度标定物，例如商场的指示牌、广告牌等，本公开对此不作具体限定。In some embodiments of the present disclosure, a target object with a known scale in the target area may also be used as a scale calibration object, such as a shopping mall sign, billboard, etc., which is not specifically limited in the present disclosure.

在本公开的一些实施例中，根据至少一个目标图像，构建目标区域对应的第一点云地图，包括：对至少一个目标图像进行特征提取，得到目标区域对应的特征信息；根据目标区域对应的特征信息，构建第一点云地图。In some embodiments of the present disclosure, constructing a first point cloud map corresponding to the target area according to at least one target image includes: performing feature extraction on at least one target image to obtain feature information corresponding to the target area; Feature information to build the first point cloud map.

将对目标区域进行图像采集得到的至少一个目标图像，以及目标区域中各尺度标定物的物理尺度上传至建图服务器(应该理解的是，在一些实施例中，各尺度标定物的物理尺度信息也可以是预存于建图服务器中的)。建图服务器获取到至少一个目标图像之后，对至少一个目标图像进行特征提取，得到目标区域对应的特征信息，该特征信息中包括各尺度标定物的特征信息。根据目标区域对应的特征信息，建图服务器构建得到目标区域对应的第一点云地图。此时，第一点云地图的物理尺度与目标区域的物理尺度可能并不匹配，需要对第一点云地图进行尺度调整，以实现第一点云地图与目标区域的物理尺度相匹配。本公开实施例中，建图服务器可以是能够进行点云地图构建的任意建图服务器，本公开对此不作具体限定。At least one target image obtained by image acquisition of the target area, and the physical scale of each scale calibration object in the target area are uploaded to the mapping server (it should be understood that in some embodiments, the physical scale information of each scale calibration object is It can also be pre-stored in the mapping server). After acquiring the at least one target image, the mapping server performs feature extraction on the at least one target image to obtain feature information corresponding to the target area, where the feature information includes feature information of each scale calibration object. According to the feature information corresponding to the target area, the mapping server constructs and obtains the first point cloud map corresponding to the target area. At this time, the physical scale of the first point cloud map may not match the physical scale of the target area, and the first point cloud map needs to be scaled to match the physical scale of the first point cloud map and the target area. In this embodiment of the present disclosure, the mapping server may be any mapping server capable of constructing a point cloud map, which is not specifically limited in this disclosure.

在本公开的一些实施例中，根据至少一个尺度标定物的物理尺度，对第一点云地图进行调整，得到具有目标物理尺度的第二点云地图，包括：确定至少一个尺度标定物在第一点云地图中的特征尺度；根据至少一个尺度标定物的物理尺度，以及至少一个尺度标定物的特征尺度，对第一点云地图进行缩放调整，得到第二点云地图。In some embodiments of the present disclosure, adjusting the first point cloud map according to the physical scale of the at least one scale calibration object to obtain a second point cloud map with the target physical scale includes: determining that the at least one scale calibration object is in the first point cloud map. The feature scale in the point cloud map; according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object, zoom and adjust the first point cloud map to obtain the second point cloud map.

在本公开的一些实施例中，第一点云地图中包括至少一个尺度标定物对应的点云特征；确定至少一个尺度标定物在第一点云地图中的特征尺度，包括：根据至少一个尺度标定物在第一点云地图中对应的点云特征，确定至少一个尺度标定物在第一点云地图中的特征尺度。In some embodiments of the present disclosure, the first point cloud map includes point cloud features corresponding to at least one scale calibration object; determining the feature scale of the at least one scale calibration object in the first point cloud map includes: according to the at least one scale The point cloud feature corresponding to the calibration object in the first point cloud map is determined, and the feature scale of the at least one scale calibration object in the first point cloud map is determined.

建图服务器构建得到的第一点云地图中包括各尺度标定物对应的点云特征。建图服务器根据各尺度标定物在第一点云地图中对应的点云特征，识别各尺度标定物(例如，识别各尺度标定物的编号)，进而确定各尺度标定物在第一点云地图中的特征尺度：(n1，w1'，h1')、(n2，w2'，h2')……。建图服务器确定得到各尺度标定物在第一点云地图中的特征尺度之后，将各尺度标定物在第一点云地图中的特征尺度与各尺度标定物的物理尺度进行对比，以根据比对结果实现对第一点云地图进行缩放调整，得到具有目标物理尺度的第二点云地图。此时，第二点云地图的物理尺度与目标区域的物理尺度相匹配。The first point cloud map constructed by the mapping server includes point cloud features corresponding to each scale calibration object. The mapping server identifies each scale calibration object (for example, identifying the number of each scale calibration object) according to the point cloud characteristics corresponding to each scale calibration object in the first point cloud map, and then determines that each scale calibration object is in the first point cloud map. Feature scales in : (n1, w1', h1'), (n2, w2', h2')... . After the mapping server determines and obtains the characteristic scale of each scale calibration object in the first point cloud map, it compares the characteristic scale of each scale calibration object in the first point cloud map with the physical scale of each scale calibration object. On the result, the first point cloud map is zoomed and adjusted, and the second point cloud map with the target physical scale is obtained. At this point, the physical scale of the second point cloud map matches the physical scale of the target area.

在本公开的一些实施例中，根据至少一个尺度标定物的物理尺度，以及至少一个尺度标定物的特征尺度，对第一点云地图进行缩放调整，得到第二点云地图，包括：根据至少一个尺度标定物的物理尺度，以及至少一个尺度标定物的特征尺度，确定第一缩放比例；根据第一缩放比例，对第一点云地图进行缩放调整，得到第二点云地图。In some embodiments of the present disclosure, scaling and adjusting the first point cloud map according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object to obtain the second point cloud map includes: according to at least one of the scale calibration objects. The physical scale of one scale calibration object and the characteristic scale of at least one scale calibration object determine a first zoom ratio; according to the first zoom ratio, zoom and adjust the first point cloud map to obtain a second point cloud map.

在一些实施例中，在只存在一个尺度标定物的情况下，该尺度标定物的物理尺度为(w1，h1)，该尺度标定物在第一点云地图中的特征尺度为(n1，w1'，h1')，则可以通过下述公式(1)确定第一缩放比例x：In some embodiments, when there is only one scale calibration object, the physical scale of the scale calibration object is (w1, h1), and the characteristic scale of the scale calibration object in the first point cloud map is (n1, w1 ', h1'), the first scaling ratio x can be determined by the following formula (1):

在本公开的一些实施例中，根据至少一个尺度标定物的物理尺度，以及至少一个尺度标定物的特征尺度，确定第一缩放比例，包括：在存在多个尺度标定物的情况下，针对任一尺度标定物，根据尺度标定物的物理尺度以及尺度标定物的特征尺度，确定尺度标定物对应的第二缩放比例；对多个尺度标定物对应的第二缩放比例进行平均，确定第一缩放比例。In some embodiments of the present disclosure, determining the first scaling ratio according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object includes: in the case of multiple scale calibration objects, for any scale calibration object, determining the first scaling ratio includes: A scale calibration object, according to the physical scale of the scale calibration object and the characteristic scale of the scale calibration object, determine the second scaling ratio corresponding to the scale calibration object; average the second scaling ratios corresponding to multiple scale calibration objects to determine the first scaling Proportion.

在一些实施例中，在存在三个尺度标定物的情况下，各尺度标定物的编号和物理尺度为：(n1，w1，h1)、(n2，w2，h2)、(n3，w3，h3)，各尺度标定物在第一点云地图中的特征尺度为：(n1，w1'，h1')、(n2，w2'，h2')、(n3，w3'，h3')，则可以通过下述公式(2)确定各尺度标定物对应的第二缩放比例y：In some embodiments, when there are three scale calibration objects, the numbers and physical dimensions of each scale calibration object are: (n1, w1, h1), (n2, w2, h2), (n3, w3, h3 ), the characteristic scale of each scale calibration object in the first point cloud map is: (n1, w1', h1'), (n2, w2', h2'), (n3, w3', h3'), then you can The second scaling ratio y corresponding to each scale calibration object is determined by the following formula (2):

进而对多个尺度标定物对应的第二缩放比例y进行平均，可以通过下述公式(三)确定第一缩放比例x：Then average the second scaling ratio y corresponding to the multiple scale calibration objects, and the first scaling ratio x can be determined by the following formula (3):

通过对多个尺度标定物对应的第二缩放比例进行平均，可以降低误差，提高确定得到的第一缩放比例的精度，使得后续根据第一缩放比例对第一点云地图进行缩放后，可以得到尺度精度较高的第二点云地图。本公开实施例中，除了可以采用上述对多个尺度标定物对应的第二缩放比例进行平均的算法降低误差之外，还可以采用其它算法来降低误差，本公开对此不作具体限定。By averaging the second scaling ratios corresponding to multiple scale calibration objects, the error can be reduced, and the accuracy of the determined first scaling ratio can be improved, so that after the first point cloud map is subsequently scaled according to the first scaling ratio, it is possible to obtain The second point cloud map with higher scale accuracy. In the embodiment of the present disclosure, in addition to the above-mentioned algorithm for averaging the second scaling ratios corresponding to multiple scale calibration objects to reduce the error, other algorithms may also be used to reduce the error, which is not specifically limited in the present disclosure.

在根据至少一个尺度标定物的物理尺度，以及至少一个尺度标定物的特征尺度，确定第一缩放比例之后，对第一点云地图进行缩放调整，以使得第二点云地图具备目标物理尺度，与目标区域的物理尺度相匹配，即第二点云地图和现实场景相吻合。After the first zoom ratio is determined according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object, the first point cloud map is zoomed and adjusted, so that the second point cloud map has the target physical scale, Matches the physical scale of the target area, that is, the second point cloud map matches the real scene.

在本公开的一些实施例中，该方法还包括：根据第二点云地图，对目标区域进行视觉定位，得到视觉定位结果；根据视觉定位结果进行以下至少一种操作：AR导航、AR导览。In some embodiments of the present disclosure, the method further includes: performing visual positioning on the target area according to the second point cloud map to obtain a visual positioning result; and performing at least one of the following operations according to the visual positioning result: AR navigation, AR navigation .

由于具备目标物理尺度的第二点云地图与目标区域的物理尺度相匹配，因此，根据第二点云地图，可以对目标区域进行视觉定位，得到视觉定位结果，进而根据视觉定位结果，可以实现对目标区域的以下至少一种操作：AR导航、AR导览。Since the second point cloud map with the physical scale of the target matches the physical scale of the target area, according to the second point cloud map, the target area can be visually positioned to obtain the visual positioning result, and then according to the visual positioning result, it is possible to achieve At least one of the following operations on the target area: AR navigation, AR navigation.

可以理解，本公开提及的上述各个方法实施例，在不违背原理逻辑的情况下，均可以彼此相互结合形成结合后的实施例，限于篇幅，本公开不再赘述。本领域技术人员可以理解，在具体实施方式的上述方法中，各步骤的具体执行顺序应当以其功能和可能的内在逻辑确定。It can be understood that the above-mentioned method embodiments mentioned in the present disclosure can be combined with each other to form a combined embodiment without violating the principle and logic. Those skilled in the art can understand that, in the above method of the specific embodiment, the specific execution order of each step should be determined by its function and possible internal logic.

此外，本公开还提供了点云地图构建装置、电子设备、计算机可读存储介质、程序，上述均可用来实现本公开提供的任一种点云地图构建方法，相应技术方案和描述和参见方法部分的相应记载，不再赘述。In addition, the present disclosure also provides point cloud map construction devices, electronic devices, computer-readable storage media, and programs, all of which can be used to implement any point cloud map construction method provided by the present disclosure, and the corresponding technical solutions and descriptions and refer to the method Some of the corresponding records will not be repeated.

图4示出根据本公开实施例的一种点云地图构建装置的框图。如图4所示，装置40包括：FIG. 4 shows a block diagram of an apparatus for constructing a point cloud map according to an embodiment of the present disclosure. As shown in Figure 4, the device 40 includes:

图像获取模块41，配置为获取对目标区域进行图像采集得到的至少一个目标图像，其中，目标区域中包括物理尺度已知的至少一个尺度标定物；The image acquisition module 41 is configured to acquire at least one target image obtained by image acquisition of the target area, wherein the target area includes at least one scale calibration object whose physical scale is known;

点云地图构建模块42，配置为根据至少一个目标图像，构建目标区域对应的第一点云地图；The point cloud map construction module 42 is configured to construct a first point cloud map corresponding to the target area according to at least one target image;

尺度调整模块43，配置为根据至少一个尺度标定物的物理尺度，对第一点云地图进行调整，得到具有目标物理尺度的第二点云地图。The scale adjustment module 43 is configured to adjust the first point cloud map according to the physical scale of the at least one scale calibration object to obtain a second point cloud map with the target physical scale.

在一种可能的实现方式中，尺度调整模块43，包括：In a possible implementation, the scaling module 43 includes:

确定子模块，配置为确定至少一个尺度标定物在第一点云地图中的特征尺度；A determination submodule, configured to determine the characteristic scale of at least one scale calibration object in the first point cloud map;

尺度缩放子模块，配置为根据至少一个尺度标定物的物理尺度，以及至少一个尺度标定物的特征尺度，对第一点云地图进行缩放调整，得到第二点云地图。The scaling submodule is configured to zoom and adjust the first point cloud map according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object to obtain the second point cloud map.

在一种可能的实现方式中，尺度缩放子模块，包括：In a possible implementation, the scaling sub-module includes:

确定单元，配置为根据至少一个尺度标定物的物理尺度，以及至少一个尺度标定物的特征尺度，确定第一缩放比例；a determining unit configured to determine the first scaling ratio according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object;

尺度缩放单元，配置为根据第一缩放比例，对第一点云地图进行缩放调整，得到第二点云地图。The scaling unit is configured to zoom and adjust the first point cloud map according to the first scaling ratio to obtain the second point cloud map.

在一种可能的实现方式中，确定单元，具体配置为：In a possible implementation manner, the determining unit is specifically configured as:

在存在多个尺度标定物的情况下，针对任一尺度标定物，根据尺度标定物的物理尺度以及尺度标定物的特征尺度，确定尺度标定物对应的第二缩放比例；When there are multiple scale calibration objects, for any scale calibration object, determine the second scaling ratio corresponding to the scale calibration object according to the physical scale of the scale calibration object and the characteristic scale of the scale calibration object;

对多个尺度标定物对应的第二缩放比例进行平均，确定第一缩放比例。The second scaling ratios corresponding to the multiple scale calibration objects are averaged to determine the first scaling ratio.

在一种可能的实现方式中，点云地图构建模块，包括：In one possible implementation, the point cloud map building module includes:

特征提取子模块，配置为对至少一个目标图像进行特征提取，得到目标区域对应的特征信息；a feature extraction sub-module, configured to perform feature extraction on at least one target image to obtain feature information corresponding to the target area;

点云地图构建子模块，配置为根据目标区域对应的特征信息，构建第一点云地图。The point cloud map construction sub-module is configured to construct the first point cloud map according to the feature information corresponding to the target area.

在一种可能的实现方式中，第一点云地图中包括至少一个尺度标定物对应的点云特征；In a possible implementation manner, the first point cloud map includes point cloud features corresponding to at least one scale calibration object;

确定子模块，具体配置为：Determine the submodule, the specific configuration is:

根据至少一个尺度标定物在第一点云地图中对应的点云特征，确定至少一个尺度标定物在第一点云地图中的特征尺度。According to the point cloud feature corresponding to the at least one scale calibration object in the first point cloud map, the feature scale of the at least one scale calibration object in the first point cloud map is determined.

在一种可能的实现方式中，尺度标定物包括以下至少一项：物理尺度已知的二维码、物理尺度已知的标定板。In a possible implementation manner, the scale calibration object includes at least one of the following: a two-dimensional code with a known physical scale, and a calibration plate with a known physical scale.

在一种可能的实现方式中，装置40还包括：In a possible implementation manner, the apparatus 40 further includes:

视觉定位模块，配置为根据第二点云地图，对目标区域进行视觉定位，得到视觉定位结果；The visual positioning module is configured to perform visual positioning on the target area according to the second point cloud map to obtain the visual positioning result;

AR模块，配置为根据视觉定位结果进行以下至少一种操作：AR导航、AR导览。The AR module is configured to perform at least one of the following operations according to the visual positioning result: AR navigation and AR navigation.

在一些实施例中，本公开实施例提供的装置具有的功能或包含的模块可以用于执行上文方法实施例描述的方法，其具体实现可以参照上文方法实施例的描述，为了简洁，这里不再赘述。In some embodiments, the functions or modules included in the apparatuses provided in the embodiments of the present disclosure may be used to execute the methods described in the above method embodiments. For specific implementation, reference may be made to the descriptions of the above method embodiments. For brevity, here No longer.

本公开实施例还提出一种计算机可读存储介质，其上存储有计算机程序指令，所述计算机程序指令被处理器执行时实现上述方法。计算机可读存储介质可以是非易失性计算机可读存储介质。Embodiments of the present disclosure further provide a computer-readable storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the foregoing method is implemented. The computer-readable storage medium may be a non-volatile computer-readable storage medium.

本公开实施例还提出一种电子设备，包括：处理器；配置为存储处理器可执行指令的存储器；其中，所述处理器被配置为调用所述存储器存储的指令，以执行上述方法。An embodiment of the present disclosure further provides an electronic device, comprising: a processor; a memory configured to store instructions executable by the processor; wherein the processor is configured to invoke the instructions stored in the memory to execute the above method.

本公开实施例还提供了一种计算机程序产品，包括计算机可读代码，当计算机可读代码在设备上运行时，设备中的处理器执行用于实现如上任一实施例提供的点云地图构建方法的指令。Embodiments of the present disclosure also provide a computer program product, including computer-readable codes. When the computer-readable codes are run on a device, a processor in the device executes the point cloud map construction provided by any of the above embodiments. method instruction.

本公开实施例还提供了另一种计算机程序产品，用于存储计算机可读指令，指令被执行时使得计算机执行上述任一实施例提供的点云地图构建方法的操作。Embodiments of the present disclosure further provide another computer program product for storing computer-readable instructions, which, when executed, cause the computer to perform the operations of the method for constructing a point cloud map provided by any of the foregoing embodiments.

电子设备可以被提供为终端、服务器或其它形态的设备。The electronic device may be provided as a terminal, server or other form of device.

图5为本公开实施例提供的一种电子设备800的结构框图。例如，电子设备800可以是移动电话、计算机、数字广播终端、消息收发设备、游戏控制台、平板设备、医疗设备、健身设备、个人数字助理等终端。FIG. 5 is a structural block diagram of an electronic device 800 according to an embodiment of the present disclosure. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, etc. terminal.

参照图5，电子设备800可以包括以下一个或多个组件：第一处理组件802，第一存储器804，第一电源组件806，多媒体组件808，音频组件810，第一输入/输出(Input Output，I/O)的接口812，传感器组件814，以及通信组件816。5, the electronic device 800 may include one or more of the following components: a first processing component 802, a first memory 804, a first power supply component 806, a multimedia component 808, an audio component 810, a first input/output (Input Output, I/O) interface 812, sensor component 814, and communication component 816.

第一处理组件802通常控制电子设备800的整体操作，诸如与显示，电话呼叫，数据通信，相机操作和记录操作相关联的操作。第一处理组件802可以包括一个或多个处理器820来执行指令，以完成上述的方法的全部或部分步骤。此外，第一处理组件802可以包括一个或多个模块，便于第一处理组件802和其他组件之间的交互。例如，第一处理组件802可以包括多媒体模块，以方便多媒体组件808和第一处理组件802之间的交互。The first processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The first processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Additionally, the first processing component 802 may include one or more modules to facilitate interaction between the first processing component 802 and other components. For example, the first processing component 802 may include a multimedia module to facilitate interaction between the multimedia component 808 and the first processing component 802.

第一存储器804被配置为存储各种类型的数据以支持在电子设备800的操作。这些数据的示例包括用于在电子设备800上操作的任何应用程序或方法的指令，联系人数据，电话簿数据，消息，图片，视频等。第一存储器804可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，如静态随机存取存储器(Static Random-Access Memory，SRAM)，电可擦除可编程只读存储器(Electrically Erasable Programmable Read Only Memory，EEPROM)，可擦除可编程只读存储器(Electrical Programmable Read Only Memory，EPROM)，可编程只读存储器(Programmable Read-Only Memory，PROM)，只读存储器(Read-Only Memory，ROM)，磁存储器，快闪存储器，磁盘或光盘。The first memory 804 is configured to store various types of data to support operations at the electronic device 800 . Examples of such data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, and the like. The first memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (Electrically Erasable Programmable Read Only Memory, EEPROM), Erasable Programmable Read Only Memory (Electrical Programmable Read Only Memory, EPROM), Programmable Read Only Memory (Programmable Read-Only Memory, PROM), Read Only Memory (Read- Only Memory, ROM), magnetic memory, flash memory, magnetic disk or optical disk.

第一电源组件806为电子设备800的各种组件提供电力。第一电源组件806可以包括电源管理***，一个或多个电源，及其他与为电子设备800生成、管理和分配电力相关联的组件。The first power supply component 806 provides power to various components of the electronic device 800 . The first power supply component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 800 .

多媒体组件808包括在所述电子设备800和用户之间的提供一个输出接口的屏幕。在一些实施例中，屏幕可以包括液晶显示器(Liquid Crystal Display，LCD)和触摸面板(Touch Pad，TP)。如果屏幕包括触摸面板，屏幕可以被实现为触摸屏，以接收来自用户的输入信号。触摸面板包括一个或多个触摸传感器以感测触摸、滑动和触摸面板上的手势。所述触摸传感器可以不仅感测触摸或滑动动作的边界，而且还检测与所述触摸或滑动操作相关的持续时间和压力。在一些实施例中，多媒体组件808包括一个前置摄像头和/或后置摄像头。当电子设备800处于操作模式，如拍摄模式或视频模式时，前置摄像头和/或后置摄像头可以接收外部的多媒体数据。每个前置摄像头和后置摄像头可以是一个固定的光学透镜***或具有焦距和光学变焦能力。 Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a touch panel (Touch Pad, TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swipe, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or swipe action, but also detect the duration and pressure associated with the touch or swipe action. In some embodiments, the multimedia component 808 includes a front-facing camera and/or a rear-facing camera. When the electronic device 800 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each of the front and rear cameras can be a fixed optical lens system or have focal length and optical zoom capability.

音频组件810被配置为输出和/或输入音频信号。例如，音频组件810包括一个麦克风(MIC)，当电子设备800处于操作模式，如呼叫模式、记录模式和语音识别模式时，麦克风被配置为接收外部音频信号。所接收的音频信号可以被进一步存储在第一存储器804或经由通信组件816发送。在一些实施例中，音频组件810还包括一个扬声器，用于输出音频信号。 Audio component 810 is configured to output and/or input audio signals. For example, audio component 810 includes a microphone (MIC) that is configured to receive external audio signals when electronic device 800 is in operating modes, such as calling mode, recording mode, and voice recognition mode. The received audio signal may be further stored in the first memory 804 or transmitted via the communication component 816 . In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

第一输入/输出接口812为第一处理组件802和***接口模块之间提供接口，上述***接口模块可以是键盘，点击轮，按钮等。这些按钮可包括但不限于：主页按钮、音量按钮、启动按钮和锁定按钮。The first input/output interface 812 provides an interface between the first processing component 802 and a peripheral interface module, and the above-mentioned peripheral interface module may be a keyboard, a click wheel, a button, and the like. These buttons may include, but are not limited to: home button, volume buttons, start button, and lock button.

传感器组件814包括一个或多个传感器，用于为电子设备800提供各个方面的状态评估。例如，传感器组件814可以检测到电子设备800的打开/关闭状态，组件的相对定位，例如所述组件为电子设备800的显示器和小键盘，传感器组件814还可以检测电子设备800或电子设备800一个组件的位置改变，用户与电子设备800接触的存在或不存在，电子设备800方位或加速/减速和电子设备800的温度变化。传感器组件814可以包括接近传感器，被配置用来在没有任何的物理接触时检测附近物体的存在。传感器组件814还可以包括光传感器，如互补金属氧化物半导体(Complementary Metal Oxide Semiconductor，CMOS)或电荷耦合器件(Charge Coupled Device，CCD)图像传感器，用于在成像应用中使用。在一些实施例中，该传感器组件814还可以包括加速度传感器，陀螺仪传感器，磁传感器，压力传感器或温度传感器。 Sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of electronic device 800 . For example, the sensor assembly 814 can detect the on/off state of the electronic device 800, the relative positioning of the components, such as the display and the keypad of the electronic device 800, the sensor assembly 814 can also detect the electronic device 800 or one of the electronic device 800 Changes in the position of components, presence or absence of user contact with the electronic device 800 , orientation or acceleration/deceleration of the electronic device 800 and changes in the temperature of the electronic device 800 . Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. Sensor assembly 814 may also include a light sensor, such as a Complementary Metal Oxide Semiconductor (CMOS) or Charge Coupled Device (CCD) image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

通信组件816被配置为便于电子设备800和其他设备之间有线或无线方式的通信。电子设备800可以接入基于通信标准的无线网络，如无线网络(WiFi)，第二代移动通信技术(2G)或第三代移动通信技术(3G)，或它们的组合。在一个示例性实施例中，通信组件816经由广播信道接收来自外部广播管理***的广播信号或广播相关信息。在一个示例性实施例中，所述通信组件816还包括近场通信(Near Field Communication，NFC)模块，以促进短程通信。例如，在NFC模块可基于射频识别(Radio Frequency Identification，RFID)技术，红外数据协会(Infrared Data Association，IrDA)技术，超宽带(Ultra Wide Band，UWB)技术，蓝牙(Bluetooth，BT)技术和其他技术来实现。 Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. The electronic device 800 may access a wireless network based on a communication standard, such as wireless network (WiFi), second generation mobile communication technology (2G) or third generation mobile communication technology (3G), or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a Near Field Communication (NFC) module to facilitate short-range communication. For example, the NFC module may be based on Radio Frequency Identification (RFID) technology, Infrared Data Association (IrDA) technology, Ultra Wide Band (UWB) technology, Bluetooth (Bluetooth, BT) technology and other technology to achieve.

在示例性实施例中，电子设备800可以被一个或多个应用专用集成电路(Application Specific Integrated Circuit，ASIC)、数字信号处理器(Digital Signal Processor，DSP)、数字信号处理设备(Digital Signal Process，DSPD)、可编程逻辑器件(Programmable Logic Device，PLD)、现场可编程门阵列(Field Programmable Gate Array，FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述任意一种点云地图构建方法。In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing (Digital Signal Process, DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation for performing any of the above A point cloud map construction method.

在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的第一存储器804，上述计算机程序指令可由电子设备800的处理器820执行以完成上述任意一种点云地图构建方法。In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a first memory 804 including computer program instructions that can be executed by the processor 820 of the electronic device 800 to accomplish any of the above A point cloud map construction method.

图6为本公开实施例的另一个电子设备的结构示意图，如图6所示，电子设备1900可以被提供为一服务器。参照图6，电子设备1900包括第二处理组件1922，其进一步包括一个或多个处理器，以及由第二存储器1932所代表的存储器资源，用于存储可由第二处理组件1922的执行的指令，例如应用程序。第二存储器1932中存储的应用程序可以包括一个或一个以上的每一个对应于一组指令的模块。此外，第二处理组件922被配置为执行指令，以执行上述任意一种点云地图构建方法。FIG. 6 is a schematic structural diagram of another electronic device according to an embodiment of the disclosure. As shown in FIG. 6 , the electronic device 1900 may be provided as a server. 6, the electronic device 1900 includes a second processing component 1922, which further includes one or more processors, and a memory resource represented by a second memory 1932 for storing instructions executable by the second processing component 1922, such as applications. The application program stored in the second memory 1932 may include one or more modules, each corresponding to a set of instructions. In addition, the second processing component 922 is configured to execute the instructions to execute any one of the above-mentioned point cloud map construction methods.

电子设备1900还可以包括一个第二电源组件1926被配置为执行电子设备1900的电源管理，一个有线或无线网络接口1950被配置为将电子设备1900连接到网络，和第二输入输出(I/O)接口1958。电子设备1900可以操作基于存储在第二存储器1932的操作***，例如微软服务器操作***(Windows ServerTM)，苹果公司推出的基于图形用户界面操作***(Mac OS XTM)，多用户多进程的计算机操作***(UnixTM),自由和开放原代码的类Unix操作***(LinuxTM)，开放原代码的类Unix操作***(FreeBSDTM)或类似。The electronic device 1900 may also include a second power supply assembly 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and a second input output (I/O ) interface 1958. The electronic device 1900 can operate based on an operating system stored in the second memory 1932, such as a Microsoft server operating system (Windows ServerTM), a graphical user interface-based operating system (Mac OS XTM) introduced by Apple, a multi-user multi-process computer operating system (UnixTM), Free and Open Source Unix-like Operating System (LinuxTM), Open Source Unix-like Operating System (FreeBSDTM) or the like.

在示例性实施例中，还提供了一种非易失性计算机可读存储介质，例如包括计算机程序指令的第二存储器1932，上述计算机程序指令可由电子设备1900的第二处理组件1922执行以完成上述任意一种点云地图构建方法。In an exemplary embodiment, a non-volatile computer-readable storage medium is also provided, such as a second memory 1932 comprising computer program instructions executable by the second processing component 1922 of the electronic device 1900 to complete Any of the above point cloud map construction methods.

本公开可以是***、方法和/或计算机程序产品。计算机程序产品可以包括计算机可读存储介质，其上载有用于使处理器实现本公开的各个方面的计算机可读程序指令。The present disclosure may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions loaded thereon for causing a processor to implement various aspects of the present disclosure.

计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是(但不限于)电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括：便携式计算机盘、硬盘、随机存取存储器(RAM)、ROM、可擦式可编程只读存储器(EPROM或闪存)、SRAM、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身，诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如，通过光纤电缆的光脉冲)、或者通过电线传输的电信号。A computer-readable storage medium may be a tangible device that can hold and store instructions for use by the instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (non-exhaustive list) of computer readable storage media include: portable computer disks, hard disks, random access memory (RAM), ROM, erasable programmable read only memory (EPROM or flash memory), SRAM , portable compact disc read only memory (CD-ROM), digital versatile disc (DVD), memory sticks, floppy disks, mechanically encoded devices, such as punched cards or raised structures in grooves on which instructions are stored, and the above any suitable combination. Computer-readable storage media, as used herein, are not to be construed as transient signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (eg, light pulses through fiber optic cables), or through electrical wires transmitted electrical signals.

这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备，或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令，并转发该计算机可读程序指令，以供存储在各个计算/处理设备中的计算机可读存储介质中。The computer readable program instructions described herein may be downloaded to various computing/processing devices from a computer readable storage medium, or to an external computer or external storage device over a network, such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from a network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing/processing device .

用于执行本公开操作的计算机程序指令可以是汇编指令、指令集架构(Instruction Set Architecture，ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码，所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等，以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络—包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中，通过利用计算机可读程序指令的状态信息来个性化定制电子电路，例如可编程逻辑电路、FPGA或可编程逻辑阵列(Programmable Logic Arrays，PLA)，该电子电路可以执行计算机可读程序指令，从而实现本公开的各个方面。The computer program instructions for carrying out the operations of the present disclosure may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or in one or more source or object code written in any combination of programming languages, including object-oriented programming languages such as Smalltalk, C++, etc., and conventional procedural programming languages such as the "C" language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server implement. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or, may be connected to an external computer (eg, use an internet service provider to connect via the internet). In some embodiments, electronic circuits, such as programmable logic circuits, FPGAs, or Programmable Logic Arrays (PLAs), that can execute computer-readable Program instructions are read to implement various aspects of the present disclosure.

这里参照根据本公开实施例的方法、装置(***)和计算机程序产品的流程图和/或框图描述了本公开的各个方面。应当理解，流程图和/或框图的每个方框以及流程图和/或框图中各方框的组合，都可以由计算机可读程序指令实现。Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

这些计算机可读程序指令可以提供给通用计算机、专用计算机或其它可编程数据处理装置的处理器，从而生产出一种机器，使得这些指令在通过计算机或其它可编程数据处理装置的处理器执行时，产生了实现流程图和/或框图中的一个或多个方框中规定的功能/动作的装置。也可以把这些计算机可读程序指令存储在计算机可读存储介质中，这些指令使得计算机、可编程数据处理装置和/或其他设备以特定方式工作，从而，存储有指令的计算机可读介质则包括一个制造品，其包括实现流程图和/或框图中的一个或多个方框中规定的功能/动作的各个方面的指令。These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer or other programmable data processing apparatus to produce a machine that causes the instructions when executed by the processor of the computer or other programmable data processing apparatus , resulting in means for implementing the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. These computer readable program instructions can also be stored in a computer readable storage medium, these instructions cause a computer, programmable data processing apparatus and/or other equipment to operate in a specific manner, so that the computer readable medium on which the instructions are stored includes An article of manufacture comprising instructions for implementing various aspects of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams.

也可以把计算机可读程序指令加载到计算机、其它可编程数据处理装置、或其它设备上，使得在计算机、其它可编程数据处理装置或其它设备上执行一系列操作步骤，以产生计算机实现的过程，从而使得在计算机、其它可编程数据处理装置、或其它设备上执行的指令实现流程图和/或框图中的一个或多个方框中规定的功能/动作。Computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other equipment to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executing on a computer, other programmable data processing apparatus, or other device to implement the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

附图中的流程图和框图显示了根据本公开的多个实施例的***、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上，流程图或框图中的每个方框可以代表一个模块、程序段或指令的一部分，所述模块、程序段或指令的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。在有些作为替换的实现中，方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如，两个连续的方框实际上可以基本并行地执行，它们有时也可以按相反的顺序执行，这依所涉及的功能而定。也要注意的是，框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合，可以用执行规定的功能或动作的专用的基于硬件的***来实现，或者可以用专用硬件与计算机指令的组合来实现。The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more functions for implementing the specified logical function(s) executable instructions. In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It is also noted that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.

该计算机程序产品可以具体通过硬件、软件或其结合的方式实现。在一个可选实施例中，所述计算机程序产品具体体现为计算机存储介质，在另一个可选实施例中，计算机程序产品具体体现为软件产品，例如软件开发包(Software Development Kit，SDK)等等。The computer program product can be specifically implemented by hardware, software or a combination thereof. In an optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), etc. Wait.

以上已经描述了本公开的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术的改进，或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。Various embodiments of the present disclosure have been described above, and the foregoing descriptions are exemplary, not exhaustive, and not limiting of the disclosed embodiments. Numerous modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the various embodiments, the practical application or improvement over the technology in the marketplace, or to enable others of ordinary skill in the art to understand the various embodiments disclosed herein.

工业实用性Industrial Applicability

本公开实施例提供了一种点云地图构建方法及装置、电子设备、存储介质和程序，所述方法包括：获取对目标区域进行图像采集得到的至少一个目标图像，其中，所述目标区域中包括物理尺度已知的至少一个尺度标定物；根据所述至少一个目标图像，构建所述目标区域对应的第一点云地图；根据所述至少一个尺度标定物的物理尺度，对所述第一点云地图进行调整，得到具有目标物理尺度的第二点云地图。本公开实施例可以利用目标区域中物理尺度已知的至少一个尺度标定物对构建得到的第一点云地图进行尺度标定，使得可以得到具有目标物理尺度的第二点云地图，从而有效提高点云地图的建图精度。Embodiments of the present disclosure provide a point cloud map construction method and device, electronic device, storage medium and program, the method includes: acquiring at least one target image obtained by image acquisition of a target area, wherein the target area is Including at least one scale calibration object whose physical scale is known; constructing a first point cloud map corresponding to the target area according to the at least one target image; The point cloud map is adjusted to obtain a second point cloud map with the target physical scale. In this embodiment of the present disclosure, at least one scale calibrator whose physical scale is known in the target area can be used to perform scale calibration on the constructed first point cloud map, so that a second point cloud map with the target physical scale can be obtained, thereby effectively improving the points Mapping accuracy of cloud maps.

Claims

一种点云地图构建方法，应用于电子设备中，包括：A method for constructing a point cloud map, applied to an electronic device, comprising:

获取对目标区域进行图像采集得到的至少一个目标图像，其中，所述目标区域中包括物理尺度已知的至少一个尺度标定物；Acquiring at least one target image obtained by image acquisition of the target area, wherein the target area includes at least one scale calibration object whose physical scale is known;

根据所述至少一个目标图像，构建所述目标区域对应的第一点云地图；constructing a first point cloud map corresponding to the target area according to the at least one target image;

根据所述至少一个尺度标定物的物理尺度，对所述第一点云地图进行调整，得到具有目标物理尺度的第二点云地图。According to the physical scale of the at least one scale calibration object, the first point cloud map is adjusted to obtain a second point cloud map with a target physical scale.
根据权利要求1所述的方法，其中，所述根据所述至少一个尺度标定物的物理尺度，对所述第一点云地图进行调整，得到具有目标物理尺度的第二点云地图，包括：The method according to claim 1, wherein, adjusting the first point cloud map according to the physical scale of the at least one scale calibration object to obtain a second point cloud map with a target physical scale, comprising:

确定所述至少一个尺度标定物在所述第一点云地图中的特征尺度；determining the characteristic scale of the at least one scale calibration object in the first point cloud map;

根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，对所述第一点云地图进行缩放调整，得到所述第二点云地图。According to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object, zoom and adjust the first point cloud map to obtain the second point cloud map.
根据权利要求2所述的方法，其中，所述根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，对所述第一点云地图进行缩放调整，得到所述第二点云地图，包括：The method according to claim 2, wherein the first point cloud map is zoomed and adjusted according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object to obtain The second point cloud map includes:

根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，确定第一缩放比例；determining a first scaling ratio according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object;

根据所述第一缩放比例，对所述第一点云地图进行缩放调整，得到所述第二点云地图。The first point cloud map is zoomed and adjusted according to the first zoom ratio to obtain the second point cloud map.
根据权利要求3所述的方法，其中，所述根据所述至少一个尺度标定物的物理尺度，以及所述至少一个尺度标定物的特征尺度，确定第一缩放比例，包括：The method according to claim 3, wherein the determining the first scaling ratio according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object comprises:

在存在多个所述尺度标定物的情况下，针对任一所述尺度标定物，根据所述尺度标定物的物理尺度以及所述尺度标定物的特征尺度，确定所述尺度标定物对应的第二缩放比例；In the case where there are multiple scale calibration objects, for any of the scale calibration objects, according to the physical scale of the scale calibration object and the characteristic scale of the scale calibration object, determine the first scale calibration object corresponding to the scale calibration object. Two scaling ratio;

对多个所述尺度标定物对应的第二缩放比例进行平均，确定所述第一缩放比例。The first scaling ratio is determined by averaging the second scaling ratios corresponding to a plurality of the scale calibration objects.
根据权利要求1至4中任一项所述的方法，其中，所述根据所述至少一个目标图像，构建所述目标区域对应的第一点云地图，包括：The method according to any one of claims 1 to 4, wherein the constructing, according to the at least one target image, a first point cloud map corresponding to the target area comprises:

对所述至少一个目标图像进行特征提取，得到所述目标区域对应的特征信息；Perform feature extraction on the at least one target image to obtain feature information corresponding to the target area;

根据所述目标区域对应的特征信息，构建所述第一点云地图。The first point cloud map is constructed according to the feature information corresponding to the target area.
根据权利要求2至4中任一项所述的方法，其中，所述第一点云地图中包括所述至少一个尺度标定物对应的点云特征；The method according to any one of claims 2 to 4, wherein the first point cloud map includes point cloud features corresponding to the at least one scale calibration object;

所述确定所述至少一个尺度标定物在所述第一点云地图中的特征尺度，包括：The determining the characteristic scale of the at least one scale calibration object in the first point cloud map includes:

根据所述至少一个尺度标定物在所述第一点云地图中对应的点云特征，确定所述至少一个尺度标定物在所述第一点云地图中的特征尺度。According to the point cloud feature corresponding to the at least one scale calibration object in the first point cloud map, the feature scale of the at least one scale calibration object in the first point cloud map is determined.
根据权利要求1至6中任一项所述的方法，其中，所述尺度标定物包括以下至少一项：物理尺度已知的二维码、物理尺度已知的标定板。The method according to any one of claims 1 to 6, wherein the scale calibration object comprises at least one of the following: a two-dimensional code with a known physical scale, a calibration plate with a known physical scale.
根据权利要求1至7中任一项所述的方法，其中，所述方法还包括：The method of any one of claims 1 to 7, wherein the method further comprises:

根据所述第二点云地图，对所述目标区域进行视觉定位，得到视觉定位结果；Perform visual positioning on the target area according to the second point cloud map to obtain a visual positioning result;

根据所述视觉定位结果进行以下至少一种操作：增强现实AR导航、AR导览。At least one of the following operations is performed according to the visual positioning result: augmented reality AR navigation, AR navigation.
一种点云地图构建装置，其中，包括：A point cloud map construction device, comprising:

图像获取模块，配置为获取对目标区域进行图像采集得到的至少一个目标图像，其中，所述目标区域中包括物理尺度已知的至少一个尺度标定物；an image acquisition module, configured to acquire at least one target image obtained by image acquisition of a target area, wherein the target area includes at least one scale calibration object whose physical scale is known;

点云地图构建模块，配置为根据所述至少一个目标图像，构建所述目标区域对应的第一点云地图；a point cloud map construction module, configured to construct a first point cloud map corresponding to the target area according to the at least one target image;

尺度调整模块，配置为根据所述至少一个尺度标定物的物理尺度，对所述第一点云地图进行调整，得到具有目标物理尺度的第二点云地图。The scale adjustment module is configured to adjust the first point cloud map according to the physical scale of the at least one scale calibration object to obtain a second point cloud map with a target physical scale.
根据权利要求9所述的装置，其中，所述尺度调整模块，包括：The apparatus of claim 9, wherein the scaling module comprises:

确定子模块，配置为确定至少一个尺度标定物在第一点云地图中的特征尺度；A determination submodule, configured to determine the characteristic scale of at least one scale calibration object in the first point cloud map;

尺度缩放子模块，配置为根据至少一个尺度标定物的物理尺度，以及至少一个尺度标定物的特征尺度，对第一点云地图进行缩放调整，得到第二点云地图。The scaling submodule is configured to zoom and adjust the first point cloud map according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object to obtain the second point cloud map.
根据权利要求10所述的装置，其中，所述尺度缩放子模块，包括：The apparatus of claim 10, wherein the scaling submodule comprises:

确定单元，配置为根据至少一个尺度标定物的物理尺度，以及至少一个尺度标定物的特征尺度，确定第一缩放比例；a determining unit, configured to determine the first scaling ratio according to the physical scale of the at least one scale calibration object and the characteristic scale of the at least one scale calibration object;

尺度缩放单元，配置为根据第一缩放比例，对第一点云地图进行缩放调整，得到第二点云地图。The scaling unit is configured to zoom and adjust the first point cloud map according to the first scaling ratio to obtain the second point cloud map.
根据权利要求11所述的装置，其中，所述确定单元，具体配置为：The apparatus according to claim 11, wherein the determining unit is specifically configured to:

在存在多个尺度标定物的情况下，针对任一尺度标定物，根据尺度标定物的物理尺度以及尺度标定物的特征尺度，确定尺度标定物对应的第二缩放比例；When there are multiple scale calibration objects, for any scale calibration object, determine the second scaling ratio corresponding to the scale calibration object according to the physical scale of the scale calibration object and the characteristic scale of the scale calibration object;

对多个尺度标定物对应的第二缩放比例进行平均，确定第一缩放比例。The second scaling ratios corresponding to the multiple scale calibration objects are averaged to determine the first scaling ratio.
根据权利要求9至12中任一项所述的装置，其中，所述点云地图构建模块，包括：The device according to any one of claims 9 to 12, wherein the point cloud map building module comprises:

特征提取子模块，配置为对至少一个目标图像进行特征提取，得到目标区域对应的特征信息；a feature extraction sub-module, configured to perform feature extraction on at least one target image to obtain feature information corresponding to the target area;

点云地图构建子模块，配置为根据目标区域对应的特征信息，构建第一点云地图。The point cloud map construction sub-module is configured to construct the first point cloud map according to the feature information corresponding to the target area.
根据权利要求10至12中任一项所述的装置，其中，所述第一点云地图中包括至少一个尺度标定物对应的点云特征；The device according to any one of claims 10 to 12, wherein the first point cloud map includes point cloud features corresponding to at least one scale calibration object;

所述确定子模块，具体配置为：The determining sub-module is specifically configured as:

根据至少一个尺度标定物在第一点云地图中对应的点云特征，确定至少一个尺度标定物在第一点云地图中的特征尺度。According to the point cloud feature corresponding to the at least one scale calibration object in the first point cloud map, the feature scale of the at least one scale calibration object in the first point cloud map is determined.
根据权利要求9至14中任一项所述的装置，其中，所述尺度标定物包括以下至少一项：物理尺度已知的二维码、物理尺度已知的标定板。The device according to any one of claims 9 to 14, wherein the scale calibration object comprises at least one of the following: a two-dimensional code with a known physical scale, and a calibration plate with a known physical scale.
根据权利要求9至15中任一项所述的装置，其中，所述装置还包括：The apparatus of any one of claims 9 to 15, wherein the apparatus further comprises:

视觉定位模块，配置为根据第二点云地图，对目标区域进行视觉定位，得到视觉定位结果；The visual positioning module is configured to perform visual positioning on the target area according to the second point cloud map to obtain the visual positioning result;

增强现实AR模块，配置为根据视觉定位结果进行以下至少一种操作：AR导航、AR导览。The augmented reality AR module is configured to perform at least one of the following operations according to the visual positioning result: AR navigation and AR navigation.
一种电子设备，其中，包括：An electronic device comprising:

处理器；processor;

配置为存储处理器可执行指令的存储器；memory configured to store processor executable instructions;

其中，所述处理器被配置为调用所述存储器存储的指令，以执行权利要求1至8中任意一项所述的方法。wherein the processor is configured to invoke the memory-stored instructions to perform the method of any one of claims 1-8.
一种计算机可读存储介质，其上存储有计算机程序指令，其中，所述计算机程序指令被处理器执行时实现权利要求1至8中任意一项所述的方法。A computer-readable storage medium having computer program instructions stored thereon, wherein the computer program instructions, when executed by a processor, implement the method of any one of claims 1 to 8.
一种计算机程序，包括计算机可读代码，当所述计算机可读代码在电子设备中运行时，所述电子设备中的处理器执行用于实现权利要求1至8任一所述的方法。A computer program comprising computer-readable code, when the computer-readable code is executed in an electronic device, a processor in the electronic device executes the method for implementing any one of claims 1 to 8.