WO2022134475A1 - 点云地图构建方法及装置、电子设备、存储介质和程序 - Google Patents
点云地图构建方法及装置、电子设备、存储介质和程序 Download PDFInfo
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Definitions
- 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.
- the space can be reconstructed, and a point cloud map with higher accuracy than traditional maps can be constructed.
- SFM motion
- 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.
- 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.
- 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.
- CAD Computer Aided Design
- the present disclosure provides technical solutions for a point cloud map construction method and device, electronic equipment, storage medium and program.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- AR Augmented Reality
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- a computer-readable storage medium having computer program instructions stored thereon, the computer program instructions implementing the above method when executed by a processor.
- 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.
- 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.
- FIG. 1 is a flowchart of a method for constructing a point cloud map according to an embodiment of the present disclosure
- FIG. 2 is a schematic diagram of a scale calibration object according to an embodiment of the disclosure.
- FIG. 3 is a schematic diagram of a scale calibration object according to an embodiment of the disclosure.
- FIG. 4 is a block diagram of an apparatus for constructing a point cloud map according to an embodiment of the present disclosure
- FIG. 5 is a block diagram of an electronic device according to an embodiment of the disclosure.
- FIG. 6 is a block diagram of an electronic device according to an embodiment of the disclosure.
- VPS Virtual Private Server
- 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.
- 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.
- the SFM space reconstruction technology is used to reconstruct the space, and a point cloud map with higher accuracy can be constructed.
- a point cloud map 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).
- 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.
- 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.
- 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.
- the method can be performed by a server.
- the method may include:
- 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.
- step S12 a first point cloud map corresponding to the target area is constructed according to at least one target image.
- 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.
- 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.
- 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.
- 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.
- 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.
- N scale calibration objects with known physical scales are placed in the building scene, N ⁇ 1.
- 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.
- 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.
- 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.
- 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.
- 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).
- 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.
- the mapping server constructs and obtains the first point cloud map corresponding to the target area.
- the mapping server may be any mapping server capable of constructing a point cloud map, which is not specifically limited in this 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 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')... .
- 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.
- 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.
- the physical scale of the scale calibration object is (w1, h1)
- 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):
- 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.
- each scale calibration object 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):
- 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.
- other algorithms may also be used to reduce the error, which is not specifically limited in the present disclosure.
- 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.
- 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 .
- 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.
- 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.
- 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.
- FIG. 4 shows a block diagram of an apparatus for constructing a point cloud map according to an embodiment of the present disclosure.
- the device 40 includes:
- 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;
- 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
- 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.
- the scaling module 43 includes:
- a determination submodule configured to determine the characteristic scale of at least one scale calibration object in the first point cloud map
- 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.
- the scaling sub-module includes:
- 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;
- 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.
- the determining unit is specifically configured as:
- 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;
- the second scaling ratios corresponding to the multiple scale calibration objects are averaged to determine the first scaling ratio.
- the point cloud map building module includes:
- 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
- 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.
- the first point cloud map includes point cloud features corresponding to at least one scale calibration object
- the feature scale of the at least one scale calibration object in the first point cloud map is determined.
- 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.
- the apparatus 40 further includes:
- 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
- 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.
- 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.
- 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.
- 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.
- Embodiments of the present disclosure also provide a computer program product, including computer-readable codes.
- a processor in the device executes the point cloud map construction provided by any of the above embodiments. method instruction.
- 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.
- the electronic device may be provided as a terminal, server or other form of device.
- FIG. 5 is a structural block diagram of an electronic device 800 according to an embodiment of the present disclosure.
- 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.
- 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.
- 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.
- 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.
- the first processing component 802 may include a multimedia module to facilitate interaction between the multimedia component 808 and the first processing component 802.
- 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.
- SRAM Static Random-Access Memory
- EEPROM Electrically Erasable Programmable Read-Only Memory
- EPROM Electrical Programmable Programmable Read Only Memory
- PROM Programmable Read Only Memory
- Read- Only Memory Read- Only Memory
- 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 .
- Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user.
- 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.
- 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.
- Audio component 810 is configured to output and/or input audio signals.
- 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 .
- audio component 810 also includes a speaker for outputting audio signals.
- 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.
- Sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of electronic device 800 .
- 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.
- CMOS Complementary Metal Oxide Semiconductor
- CCD Charge Coupled Device
- the sensor assembly 814 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
- 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.
- the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel.
- the communication component 816 also includes a Near Field Communication (NFC) module to facilitate short-range communication.
- 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.
- RFID Radio Frequency Identification
- IrDA Infrared Data Association
- UWB Ultra Wide Band
- Bluetooth Bluetooth
- 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.
- ASIC Application Specific Integrated Circuit
- DSP Digital Signal Processor
- DSPD Digital Signal Processing
- PLD Programmable Logic Device
- FPGA Field Programmable Gate Array
- controller microcontroller, microprocessor or other electronic component implementation for performing any of the above A point cloud map construction method.
- 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.
- FIG. 6 is a schematic structural diagram of another electronic device according to an embodiment of the disclosure.
- 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.
- the second processing component 922 is configured to execute the instructions to execute any one of the above-mentioned point cloud map construction methods.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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 .
- 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.
- 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).
- LAN Local Area Network
- WAN Wide Area Network
- 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.
- PDAs Programmable Logic Arrays
- 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.
- 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.
- 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.
- 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.
- 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.
- the computer program product can be specifically implemented by hardware, software or a combination thereof.
- 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.
- a software development kit Software Development Kit, SDK
- 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.
- 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.
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Abstract
Description
Claims (19)
- 一种点云地图构建方法,应用于电子设备中,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。
- 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: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。
- 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: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。
- 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: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。
- 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: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。
- 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;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。
- 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。
- 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: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AR导航、AR导览。
- 一种点云地图构建装置,其中,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。
- 根据权利要求9所述的装置,其中,所述尺度调整模块,包括: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;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。
- 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: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;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。
- 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: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。
- 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: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;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。
- 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;所述确定子模块,具体配置为: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。
- 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。
- 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: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;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。
- 一种电子设备,其中,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,以执行权利要求1至8中任意一项所述的方法。
- 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。
- 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。
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KR1020227025486A KR20220130707A (ko) | 2020-12-25 | 2021-05-31 | 포인트 클라우드 맵 구축 방법 및 장치, 전자 기기, 저장 매체 및 프로그램 |
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