CN106652028A - Environment three-dimensional mapping method and apparatus - Google Patents
Environment three-dimensional mapping method and apparatus Download PDFInfo
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- CN106652028A CN106652028A CN201611238804.0A CN201611238804A CN106652028A CN 106652028 A CN106652028 A CN 106652028A CN 201611238804 A CN201611238804 A CN 201611238804A CN 106652028 A CN106652028 A CN 106652028A
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- dimensional
- distance measuring
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- measuring sensor
- pose
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
Abstract
The invention discloses an environment three-dimensional mapping method and apparatus. The method comprises the steps of performing traversal scanning on an environment in which a movable apparatus is located by utilizing a two-dimensional distance measuring sensor to obtain a pose of the movable apparatus in the environment in which the movable apparatus is located; acquiring three-dimensional environment information of the environment in which the movable apparatus is located by utilizing a three-dimension distance measuring sensor; and obtaining a three-dimensional environment map based on relative poses of the three-dimensional distance measuring sensor and the two-dimensional distance measuring sensor, and the pose and the three-dimensional environment information of the movable apparatus in the environment in which the movable apparatus is located. According to the method and the apparatus, the movable apparatus is located by utilizing the two-dimensional distance measuring sensor, locating information serves as three-dimensional initial pose information, and the corresponding three-dimensional environment map is obtained based on the three-dimensional initial pose information and the three-dimensional environment information; and the operations of performing three-dimensional feature extraction and feature matching to finally obtain the three-dimensional environment map in the technical scheme provided in the prior art do not need to be carried out, so that the calculation amount is greatly reduced and the real-time property of mapping is improved.
Description
Technical field
The present invention relates to mobile robot technology field, more particularly, it relates to a kind of surrounding three-dimensional builds drawing method and dress
Put.
Background technology
In order to realize the independent navigation and positioning of Intelligent mobile equipment, need to realize for Intelligent mobile equipment local environment
Environment build figure.
Most of existing products generally realize that environment builds figure by two ways, and the first is for directly using two dimension range finding biography
Sensor carries out environment and builds figure, but this cannot obtain the three-dimensional information of environment；Second is with three-dimensional laser radar or image
Method carry out environment and build figure, but this method typically all first extracts three-dimensional (or image) feature, carries out characteristic matching,
Transformation matrix is estimated again, operand is huge, it is impossible to which the real-time of figure is built in guarantee.
In sum, the surrounding three-dimensional for providing in prior art builds the technical scheme of figure, and to there is operand big, it is impossible to ensures
Build the problem of figure real-time.
The content of the invention
It is an object of the invention to provide a kind of surrounding three-dimensional builds drawing method and device, to solve prior art in the ring that provides
It is big and cannot ensure to build the problem of figure real-time that border three-dimensional builds operand that the technical scheme of figure is present.
To achieve these goals, the present invention provides following technical scheme：
A kind of surrounding three-dimensional builds drawing method, including：
Traverse scanning is carried out to the environment residing for movable fixture using two-dimentional distance measuring sensor, the removable dress is obtained
Put the pose in its local environment；
The three-dimensional environment information of the movable fixture local environment is gathered using three-dimensional distance measuring sensor；
Existed based on the relative pose of the three-dimensional distance measuring sensor and the two-dimentional distance measuring sensor, the movable fixture
Pose and the three-dimensional environment information in its local environment obtains three-dimensional environment map.
Preferably, based on the three-dimensional distance measuring sensor and the relative pose of the two-dimentional distance measuring sensor, described removable
Pose and the three-dimensional environment information of the dynamic device in its local environment obtains three-dimensional environment map, including：
Pose and the three-dimensional distance measuring sensor and the two dimension based on the movable fixture in its local environment
The relative pose of distance measuring sensor determines pose of the three-dimensional distance measuring sensor in the movable fixture local environment, and
The pose is merged with corresponding three-dimensional environmental information, to obtain the three-dimensional environment map.
Preferably, the pose and the three-dimensional environment information by the three-dimensional distance measuring sensor in correspondence environment is melted
After conjunction, also include：
Information resulting after above-mentioned fusion will be carried out carries out accuracy registration, closed loop detection and filtering process, obtains institute
State three-dimensional environment map.
Preferably, the relative pose of the three-dimensional distance measuring sensor and the two-dimentional distance measuring sensor is obtained, including：
Measured in real time between the three-dimensional distance measuring sensor and the two-dimentional distance measuring sensor using pose measurement sensor
Relative pose.
Preferably, after obtaining the three-dimensional environment map, also include：
The three-dimensional environment map is sent to designated terminal.
A kind of surrounding three-dimensional builds map device, including：
Two-dimentional distance measuring sensor, for carrying out traverse scanning to the environment residing for movable fixture, obtains described removable
Pose of the device in its local environment；
Three-dimensional distance measuring sensor, for gathering the three-dimensional environment information of the movable fixture local environment；
Message processing module, for obtaining pose and the three-dimensional environment of the movable fixture in its local environment
Information, and existed based on the relative pose of the three-dimensional distance measuring sensor and the two-dimentional distance measuring sensor, the movable fixture
Pose and the three-dimensional environment information in its local environment obtains three-dimensional environment map.
Preferably, described information processing module includes：
Information process unit, for the pose based on the movable fixture in its local environment and the three-dimensional range finding
Sensor determines the three-dimensional distance measuring sensor in the movable fixture institute with the relative pose of the two-dimentional distance measuring sensor
Pose in place's environment, and the pose is merged with corresponding three-dimensional environmental information, to obtain the three-dimensional environment map.
Preferably, described information processing unit also includes：
Information processing subelement, for will carry out information resulting after above-mentioned fusion accuracy registration, closed loop inspection are carried out
Survey and filtering process, obtain the three-dimensional environment map.
Preferably, also include：
Position and attitude sensor, for measuring the phase between the three-dimensional distance measuring sensor and the two-dimentional distance measuring sensor in real time
To pose, obtain for described information processing module.
Preferably, also include：
Pushing module, for the three-dimensional environment map to be sent to designated terminal.
A kind of surrounding three-dimensional that the present invention is provided builds drawing method and device, and wherein the method includes：Passed using two dimension range finding
Sensor carries out traverse scanning to the environment residing for movable fixture, obtains position of the movable fixture in its local environment
Appearance；The three-dimensional environment information of the movable fixture local environment is gathered using three-dimensional distance measuring sensor；Based on the three-dimensional survey
Pose and institute of the relative pose, the movable fixture away from sensor and the two-dimentional distance measuring sensor in its local environment
State three-dimensional environment information and obtain three-dimensional environment map.It can be seen that, realize movable fixture using two-dimentional distance measuring sensor in the application
Positioning, using the location information as three-dimensional initial posture information, to be believed based on the initial posture information of three-dimensional and three-dimensional environment
Breath gets corresponding three-dimensional environment map, without the need for carrying out three-dimensional feature extraction and spy as the technical scheme provided in prior art
Levy and finally give three-dimensional environment map after matching, so as to greatly reduce operand, improve and build figure real-time.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the flow chart that a kind of surrounding three-dimensional provided in an embodiment of the present invention builds drawing method；
Fig. 2 is the structural representation that a kind of surrounding three-dimensional provided in an embodiment of the present invention builds map device；
Fig. 3 is the structural representation of the specific implementation that a kind of surrounding three-dimensional provided in an embodiment of the present invention builds map device
Figure.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1 is referred to, the flow chart that a kind of surrounding three-dimensional provided in an embodiment of the present invention builds drawing method is it illustrates, can be with
Comprise the following steps：
S11：Traverse scanning is carried out to the environment residing for movable fixture using two-dimentional distance measuring sensor, removable dress is obtained
Put the pose in its local environment.
The pose of movable fixture is equivalent to the pose of two-dimentional distance measuring sensor in the present embodiment, and utilizes two dimension range finding
Sensor is obtained its pose in local environment and can be realized using SLAM technologies, and specifically, what SLAM technologies were solved asks
Topic is movable fixture and starts movement from unknown position in circumstances not known, in moving process according to location estimation and
Map carries out self poisoning, while building increment type map on the basis of self poisoning, realizes the autonomous fixed of movable fixture
Position and navigation.Other technologies can certainly be according to actual needs chosen, within protection scope of the present invention.In addition, this
The two-dimentional distance measuring sensor in place includes but is not limited to laser radar, sonar etc..
S12：The three-dimensional environment information of movable fixture local environment is gathered using three-dimensional distance measuring sensor.
Three-dimensional distance measuring sensor can include but is not limited to three-dimensional laser radar, RGBD video cameras, many mesh (comprising binocular)
Vision camera etc., for realizing the collection of the three-dimensional data to mobile device local environment, the i.e. collection of three-dimensional environment information.
S13：Relative pose, movable fixture based on three-dimensional distance measuring sensor and two-dimentional distance measuring sensor is in its residing ring
Pose and three-dimensional environment information in border obtains three-dimensional environment map.
By relative pose, the movable fixture of three-dimensional distance measuring sensor and two-dimentional distance measuring sensor in its local environment
Pose and three-dimensional environment information are merged, and can obtain corresponding three-dimensional environment map, realize that surrounding three-dimensional builds figure.
In above-mentioned technical proposal disclosed in the embodiment of the present invention, first with two-dimentional distance measuring sensor movable fixture is obtained
Pose in local environment, and the three-dimensional environment information of movable fixture local environment is obtained using three-dimensional distance measuring sensor,
And then position of the relative pose, movable fixture based on three-dimensional distance measuring sensor and two-dimentional distance measuring sensor in its local environment
Appearance and three-dimensional environment information obtain three-dimensional environment map.It can be seen that, realize removable dress using two-dimentional distance measuring sensor in the application
The positioning put, using the location information as three-dimensional initial posture information, with based on the initial posture information of the three-dimensional and three-dimensional environment
Acquisition of information to corresponding three-dimensional environment map, without the need for as the technical scheme provided in prior art carry out three-dimensional feature extraction and
Three-dimensional environment map is finally given after characteristic matching, so as to greatly reduce operand, is improve and is built figure real-time.
A kind of surrounding three-dimensional provided in an embodiment of the present invention builds drawing method, is passed with two dimension range finding based on three-dimensional distance measuring sensor
Pose and three-dimensional environment information of the relative pose, movable fixture of sensor in its local environment obtains three-dimensional environment map,
Can include：
Pose and three-dimensional distance measuring sensor and two-dimentional distance measuring sensor based on movable fixture in its local environment
Relative pose determines pose of the three-dimensional distance measuring sensor in movable fixture local environment, and by the pose and corresponding three-dimensional ring
Environment information is merged, to obtain three-dimensional environment map.
The relative pose of pose and three-dimensional distance measuring sensor and two-dimentional distance measuring sensor based on movable fixture can be true
The pose of three-dimensional distance measuring sensor is made, such as movable fixture is positioned at corner, and three-dimensional distance measuring sensor is sensed with two dimension range finding
Relative pose between device is specially three-dimensional distance measuring sensor and is located on two-dimentional distance measuring sensor and distance two dimension range finding sensing
1 meter of device, the then particular location for understanding three-dimensional distance measuring sensor is positioned at corner and higher than the position of 1 meter of movable fixture.Further
The pose that three-dimensional distance measuring sensor can be based on determines the corresponding position of three-dimensional environment information of its collection, and such as three-dimensional range finding is passed
The particular location of sensor is that the three-dimensional environment information that then it is collected is then positioned at corner and higher than the position of 1 meter of movable fixture
For the environmental information around the position, the three-dimensional environment information of acquisition is embodied in into its corresponding position on map, obtains three-dimensional
Reconstruct data, i.e. three-dimensional environment map, realize that surrounding three-dimensional builds figure.
In addition, after the pose and three-dimensional environment information by three-dimensional distance measuring sensor in correspondence environment is merged, also
Can include：
Information resulting after above-mentioned fusion will be carried out carries out accuracy registration, closed loop detection and filtering process, obtains three
Dimension environmental map.
Specifically, it can be by seeking adjacent two frames point based on ICP algorithm that accuracy registration is carried out to resulting information
In cloud data each point to Euclidean distance least square realize.Closed loop detection can be feature based matching or ICP etc.
Algorithm to carrying out accuracy registration after the three-dimensional environment map that obtains be updated correction, specific practice is：The sight of known odometer
Measurement u, the observed quantity z of two-dimentional distance measuring sensor, the pose and three-dimensional environment map to movable fixture carries out maximum probability and estimates
Meter.Filtering process can be that the irregular data of three-dimensional point cloud are smoothed based on gaussian filtering, bilateral filtering etc., go
Except outlier, remove sampling noiset etc..In addition, above-mentioned accuracy registration, closed loop detection and filtering process realize principle with it is existing
Correspondence technical scheme realizes that principle unanimously, will not be described here in technology.
By carrying out above-mentioned process to the information after above-mentioned fusion, the complete of the three-dimensional environment map that obtains is ensure that
Property, realize the accuracy that surrounding three-dimensional in the application builds figure.Certainly, in order to reach the purpose, prior art can also be utilized
Present in any mode that environmental information is processed, within protection scope of the present invention.The embodiment of the present invention
A kind of surrounding three-dimensional for providing builds drawing method, obtains the relative pose of three-dimensional distance measuring sensor and two-dimentional distance measuring sensor, can be with
Including：
The relative position between three-dimensional distance measuring sensor and two-dimentional distance measuring sensor is measured in real time using pose measurement sensor
Appearance.
It should be noted that the relative position in the embodiment of the present invention between three-dimensional distance measuring sensor and two-dimentional distance measuring sensor
Appearance can be fixed, it is also possible to not fixed, and can be determined according to actual needs.Specifically, when it is fixed, it is only necessary to
The relative pose of three-dimensional distance measuring sensor and two-dimentional distance measuring sensor is determined during setting, pose measurement sensing can be not related to
Measurement of the device to above-mentioned relative pose；And when it is not fixed, need to measure three-dimensional range finding in real time using pose measurement sensor
Relative pose between sensor and two-dimentional distance measuring sensor, wherein, using the three-dimensional range finding sensing of pose measurement sensor measurement
The process of relative pose can design initial relative pose between device and two-dimentional distance measuring sensor, then the side by demarcating
Method is determining accurate relative pose, wherein determining that the process of accurate relative pose can include by the method demarcated：Adopt
The data of three-dimensional distance measuring sensor under some frame different positions and poses, and the data of two-dimentional distance measuring sensor this moment, by three-dimensional range finding
The data projection of sensor calculates its projection error with the data of two-dimentional distance measuring sensor to two dimensional surface, using minimum
Square law is calculated and causes the quadratic sum of the projection error minimum, and the minimum projection error of the quadratic sum is three-dimensional range finding this moment and passes
Accurate relative pose between sensor and two-dimentional distance measuring sensor.It is corresponding, by the pose and three-dimensional ring of three-dimensional distance measuring sensor
When environment information is merged, the corresponding different three-dimensional environment information of pose of different three-dimensional distance measuring sensors, therefore, it is above-mentioned to melt
It is combined into the fusion carried out for the pose and the corresponding three-dimensional environment information of the pose of three-dimensional distance measuring sensor.In addition, of the invention
Pose measurement sensor in embodiment includes but is not limited to encoder, inertial navigation etc., can also carry out according to actual needs certainly
Other settings, within protection scope of the present invention.A kind of surrounding three-dimensional provided in an embodiment of the present invention builds drawing method, obtains
After three-dimensional environment map, can also include：
Three-dimensional environment map is sent to designated terminal.
Wherein, it is intended that terminal is set in advance, can be terminal corresponding with assigned work personnel, thus, it is intended that work
Make actual environment and the uniformity comparison of three-dimensional environment map that personnel can be according to residing for movable fixture, judge the three-dimensional ring
Whether condition figure is accurate, and then the figure ability of building to movable fixture is tested and assessed.
The embodiment of the present invention additionally provides a kind of surrounding three-dimensional and builds map device, and the device can be arranged on movable fixture
On, it is also possible to refer to movable fixture, as shown in Fig. 2 the device can include：
Two-dimentional distance measuring sensor 11, for carrying out traverse scanning to the environment residing for movable fixture, obtains removable dress
Put the pose in its local environment；
Three-dimensional distance measuring sensor 12, for gathering the three-dimensional environment information of movable fixture local environment；
Message processing module 13, for obtaining pose and three-dimensional environment information of the movable fixture in its local environment,
And pose of the relative pose, movable fixture based on three-dimensional distance measuring sensor and two-dimentional distance measuring sensor in its local environment
And three-dimensional environment information obtains three-dimensional environment map.
A kind of surrounding three-dimensional provided in an embodiment of the present invention builds map device, and message processing module can include：
Information process unit, for based on pose of the movable fixture in its local environment and three-dimensional distance measuring sensor with
The relative pose of two-dimentional distance measuring sensor determines pose of the three-dimensional distance measuring sensor in movable fixture local environment, and should
Pose is merged with corresponding three-dimensional environmental information, to obtain three-dimensional environment map.
A kind of surrounding three-dimensional provided in an embodiment of the present invention builds map device, and information process unit can also include：
Information processing subelement, for will carry out information resulting after above-mentioned fusion accuracy registration, closed loop inspection are carried out
Survey and filtering process, obtain three-dimensional environment map.
A kind of surrounding three-dimensional provided in an embodiment of the present invention builds map device, can also include：
Position and attitude sensor, for the relative pose between the three-dimensional distance measuring sensor of measurement in real time and two-dimentional distance measuring sensor,
Obtain for message processing module.
A kind of surrounding three-dimensional provided in an embodiment of the present invention builds map device, can also include：
Pushing module, for three-dimensional environment map to be sent to designated terminal.
In actual use, the movable fixture in the embodiment of the present invention can be moved by staff's hand-guided,
Movement can be automatically controlled.In addition, a kind of specific implementation that surrounding three-dimensional provided in an embodiment of the present invention builds map device can
So that as shown in figure 3, wherein, motion 31 (including but not limited to wheel, crawler belt etc.) is responsible for whole movable fixture in environment
In movement；The top of motion 31 is two-dimentional distance measuring sensor 32, and information can be included in the two-dimentional distance measuring sensor 32
Processing module；The top of two-dimentional distance measuring sensor 32 is bindiny mechanism 33, and the bindiny mechanism 33 is used to realize being passed with three-dimensional range finding
The connection of sensor；The top of bindiny mechanism 33 is three-dimensional distance measuring sensor and pose measurement sensor, wherein, three-dimensional range finding sensing
Device and Position and attitude sensor are respectively positioned on the top of bindiny mechanism 33, unified representation are carried out to it with label 34 herein, thereby it is ensured that removable
Dynamic device can realize surrounding three-dimensional composition function.Certainly, surrounding three-dimensional builds map device in Fig. 3 shown devices only present invention
A kind of specific implementation, can realize other implementations of above-mentioned technical proposal of the present invention also in present invention protection model
Within enclosing, when the relative pose between two-dimentional distance measuring sensor and three-dimensional distance measuring sensor is fixed, pose measurement sensor
Can not exist, here is not specifically limited.
The explanation that a kind of surrounding three-dimensional provided in an embodiment of the present invention builds relevant portion in map device refers to of the invention real
A kind of surrounding three-dimensional for applying example offer builds the detailed description of corresponding part in drawing method, will not be described here.
The foregoing description of the disclosed embodiments, enables those skilled in the art to realize or using the present invention.To this
Various modifications of a little embodiments will be apparent for a person skilled in the art, and generic principles defined herein can
Without departing from the spirit or scope of the present invention, to realize in other embodiments.Therefore, the present invention will not be limited
It is formed on the embodiments shown herein, and is to fit to consistent with principles disclosed herein and features of novelty most wide
Scope.
Claims (10)
1. a kind of surrounding three-dimensional builds drawing method, it is characterised in that include：
Traverse scanning is carried out to the environment residing for movable fixture using two-dimentional distance measuring sensor, the movable fixture is obtained and is existed
Pose in its local environment；
The three-dimensional environment information of the movable fixture local environment is gathered using three-dimensional distance measuring sensor；
Relative pose, the movable fixture based on the three-dimensional distance measuring sensor and the two-dimentional distance measuring sensor is in its institute
Pose and the three-dimensional environment information in place's environment obtains three-dimensional environment map.
2. method according to claim 1, it is characterised in that based on the three-dimensional distance measuring sensor and the two dimension range finding
The pose and the three-dimensional environment information of the relative pose of sensor, the movable fixture in its local environment obtains three-dimensional
Environmental map, including：
Pose and the three-dimensional distance measuring sensor based on the movable fixture in its local environment and the two dimension range finding
The relative pose of sensor determines pose of the three-dimensional distance measuring sensor in the movable fixture local environment, and should
Pose is merged with corresponding three-dimensional environmental information, to obtain the three-dimensional environment map.
3. method according to claim 2, it is characterised in that by position of the three-dimensional distance measuring sensor in correspondence environment
After appearance and the three-dimensional environment information are merged, also include：
Information resulting after above-mentioned fusion will be carried out carries out accuracy registration, closed loop detection and filtering process, obtains described three
Dimension environmental map.
4. method according to claim 3, it is characterised in that obtain the three-dimensional distance measuring sensor and the two dimension range finding
The relative pose of sensor, including：
The phase between the three-dimensional distance measuring sensor and the two-dimentional distance measuring sensor is measured in real time using pose measurement sensor
To pose.
5. method according to claim 3, it is characterised in that after obtaining the three-dimensional environment map, also include：
The three-dimensional environment map is sent to designated terminal.
6. a kind of surrounding three-dimensional builds map device, it is characterised in that include：
Two-dimentional distance measuring sensor, for carrying out traverse scanning to the environment residing for movable fixture, obtains the movable fixture
Pose in its local environment；
Three-dimensional distance measuring sensor, for gathering the three-dimensional environment information of the movable fixture local environment；
Message processing module, for obtaining pose and three-dimensional environment letter of the movable fixture in its local environment
Breath, and relative pose, the movable fixture based on the three-dimensional distance measuring sensor and the two-dimentional distance measuring sensor is at it
Pose and the three-dimensional environment information in local environment obtains three-dimensional environment map.
7. device according to claim 6, it is characterised in that described information processing module includes：
Information process unit, for the pose based on the movable fixture in its local environment and the three-dimensional range finding sensing
Device determines the three-dimensional distance measuring sensor in ring residing for the movable fixture with the relative pose of the two-dimentional distance measuring sensor
Pose in border, and the pose is merged with corresponding three-dimensional environmental information, to obtain the three-dimensional environment map.
8. device according to claim 7, it is characterised in that described information processing unit also includes：
Information processing subelement, for will carry out information resulting after above-mentioned fusion carry out accuracy registration, closed loop detection and
Filtering process, obtains the three-dimensional environment map.
9. device according to claim 8, it is characterised in that also include：
Position and attitude sensor, for measuring the relative position between the three-dimensional distance measuring sensor and the two-dimentional distance measuring sensor in real time
Appearance, obtains for described information processing module.
10. device according to claim 8, it is characterised in that also include：
Pushing module, for the three-dimensional environment map to be sent to designated terminal.
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| CN201611238804.0A CN106652028B (en) | 2016-12-28 | 2016-12-28 | Environment three-dimensional mapping method and device |
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| CN201611238804.0A CN106652028B (en) | 2016-12-28 | 2016-12-28 | Environment three-dimensional mapping method and device |
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| CN108267748A (en) * | 2017-12-06 | 2018-07-10 | 香港中文大学（深圳） | A kind of omnidirectional three-dimensional point cloud ground drawing generating method and system |
| CN108170144A (en) * | 2017-12-27 | 2018-06-15 | 北斗七星（重庆）物联网技术有限公司 | A kind of control system and security robot applied to security robot |
| CN108337915A (en) * | 2017-12-29 | 2018-07-27 | 深圳前海达闼云端智能科技有限公司 | Three-dimensional builds drawing method, device, system, high in the clouds platform, electronic equipment and computer program product |
| WO2019127347A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳前海达闼云端智能科技有限公司 | Three-dimensional mapping method, apparatus and system, cloud platform, electronic device, and computer program product |
| CN109544629A (en) * | 2018-11-29 | 2019-03-29 | 南京人工智能高等研究院有限公司 | Camera pose determines method and apparatus and electronic equipment |
| CN109544629B (en) * | 2018-11-29 | 2021-03-23 | 南京人工智能高等研究院有限公司 | Camera position and posture determining method and device and electronic equipment |
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