CN107480603B - 基于slam和深度摄像头的同步建图与物体分割方法 - Google Patents
基于slam和深度摄像头的同步建图与物体分割方法 Download PDFInfo
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- CN107480603B CN107480603B CN201710622401.4A CN201710622401A CN107480603B CN 107480603 B CN107480603 B CN 107480603B CN 201710622401 A CN201710622401 A CN 201710622401A CN 107480603 B CN107480603 B CN 107480603B
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 230000011218 segmentation Effects 0.000 title claims abstract description 22
- 238000013507 mapping Methods 0.000 title claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 6
- 238000001514 detection method Methods 0.000 claims description 15
- 230000004927 fusion Effects 0.000 claims description 4
- 238000010801 machine learning Methods 0.000 claims description 4
- 238000009499 grossing Methods 0.000 claims 1
- 238000004458 analytical method Methods 0.000 abstract description 2
- 238000002372 labelling Methods 0.000 abstract 2
- 230000019771 cognition Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 abstract 1
- 241000699670 Mus sp. Species 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/35—Categorising the entire scene, e.g. birthday party or wedding scene
- G06V20/36—Indoor scenes
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
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- Computer Vision & Pattern Recognition (AREA)
- Remote Sensing (AREA)
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CN201710622401.4A CN107480603B (zh) | 2017-07-27 | 2017-07-27 | 基于slam和深度摄像头的同步建图与物体分割方法 |
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CN201710622401.4A CN107480603B (zh) | 2017-07-27 | 2017-07-27 | 基于slam和深度摄像头的同步建图与物体分割方法 |
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CN107480603B true CN107480603B (zh) | 2020-09-18 |
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Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
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CN108665496B (zh) * | 2018-03-21 | 2021-01-26 | 浙江大学 | 一种基于深度学习的端到端的语义即时定位与建图方法 |
CN110377776B (zh) * | 2018-07-23 | 2022-06-07 | 北京京东尚科信息技术有限公司 | 生成点云数据的方法和装置 |
CN109509255B (zh) * | 2018-07-26 | 2022-08-30 | 京东方科技集团股份有限公司 | 一种标签化地图构建及空间地图更新方法和装置 |
CN109559320B (zh) * | 2018-09-18 | 2022-11-18 | 华东理工大学 | 基于空洞卷积深度神经网络实现视觉slam语义建图功能的方法及系统 |
CN111105449B (zh) * | 2018-10-09 | 2023-05-02 | 财团法人工业技术研究院 | 深度估计装置、自动驾驶车辆及其深度估计方法 |
GB2581808B (en) * | 2019-02-26 | 2022-08-10 | Imperial College Innovations Ltd | Scene representation using image processing |
CN110751722B (zh) * | 2019-09-09 | 2021-06-15 | 清华大学 | 同时定位建图方法及装置 |
Citations (3)
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CN105100771A (zh) * | 2015-07-14 | 2015-11-25 | 山东大学 | 一种基于场景分类和几何标注的单视点视频深度获取方法 |
CN106529573A (zh) * | 2016-10-14 | 2017-03-22 | 北京联合大学 | 一种结合三维点云分割和局部特征匹配的实时物体检测方法 |
CN106570903A (zh) * | 2016-10-13 | 2017-04-19 | 华南理工大学 | 一种基于rgb‑d摄像头的视觉识别与定位方法 |
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CN112850406A (zh) * | 2015-04-03 | 2021-05-28 | 奥的斯电梯公司 | 用于乘客运输的通行列表产生 |
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Patent Citations (3)
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CN105100771A (zh) * | 2015-07-14 | 2015-11-25 | 山东大学 | 一种基于场景分类和几何标注的单视点视频深度获取方法 |
CN106570903A (zh) * | 2016-10-13 | 2017-04-19 | 华南理工大学 | 一种基于rgb‑d摄像头的视觉识别与定位方法 |
CN106529573A (zh) * | 2016-10-14 | 2017-03-22 | 北京联合大学 | 一种结合三维点云分割和局部特征匹配的实时物体检测方法 |
Non-Patent Citations (3)
Title |
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基于RGB-D的对象分割与重建技术研究;葛玲;《中国优秀硕士学位论文全文数据库 信息科技辑》;20161015(第10期);I138-484页第四章 * |
基于稀疏点云的多平面场景稠密重建;缪君 等;《自动化学报》;20141030;第41卷(第4期);813-822页第1-2节 * |
面向服务机器人的室内语义地图构建的研究;王锋;《中国博士学位论文全文数据库 信息科技辑》;20141015(第10期);I140-47页摘要,第三-五章 * |
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