CN108198241A - A kind of method and apparatus of 3-D view structure - Google Patents
A kind of method and apparatus of 3-D view structure Download PDFInfo
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- CN108198241A CN108198241A CN201810107769.1A CN201810107769A CN108198241A CN 108198241 A CN108198241 A CN 108198241A CN 201810107769 A CN201810107769 A CN 201810107769A CN 108198241 A CN108198241 A CN 108198241A
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- G—PHYSICS
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- 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 a kind of method and apparatus of 3-D view structure, this method includes：First, the scan data of the symmetrical multi-line laser radar of staggered floor that robot has is obtained；Then, according to the scan data and subdivision triangulation network interpolation algorithm, the corresponding 3-D view of the scan data is built.It can be seen that, Multi Slice Mode data can be obtained by the symmetrical multi-line laser radar of staggered floor, and Multi Slice Mode data can be built into the 3-D view of barrier using triangulation network interpolation algorithm is segmented, considerably increase the image data of barrier, barrier number of scan points is according to less the problem of being filtered out when avoiding rasterizing, subsequently to realize that the functions such as robot path planning and avoidance processing provide the obstacle information of more horn of plenty, so as to improve the accuracy of robot path planning and avoidance processing.
Description
Technical field
The present invention relates to the method and apparatus that data constructing technology field more particularly to a kind of 3-D view are built.
Background technology
With the fast development of science and technology, intellect service robot can be utilized to replace certain days of people in daily life
Often work, to save manpower so that people have more time and efforts to complete other work.For intellect service robot
Speech, the laser radar for being used to scan ambient enviroment is subsequently to carry out path planning and avoidance processing for intellect service robot
Pith.
At present, the scan mode for the laser radar installed on intellect service robot is single line 360 degree of scannings mode mostly,
Scanning obtains being individual layer two dimensional image, for example, when laser radar scans bead using single line 360 degree of scannings mode, obtains only
Only it is the individual layer two dimensional image of several discrete sampling points on single camber line.
But inventor has found that intellect service robot practical service environment is usually indoor environment, single line
360 degree of scannings mode only obtains individual layer two dimensional image, in the case that environment is complex indoors, it is difficult to express certain volumes compared with
Small barrier.Such as above-mentioned bead, only several discrete sampling points on single camber line, scanning sample point is relatively fewer,
It is likely to, by as noise filtering, fail subsequently to realize robot path planning and avoidance processing etc. when building grating map
Function provides correct obstacle information, so as to which subsequent path planning and the result of avoidance processing be caused to deviate from actual environment.
Invention content
The technical problem to be solved by the invention is to provide a kind of method and apparatus of 3-D view structure, greatly increase
The image data of barrier, barrier number of scan points is realized according to less the problem of being filtered out to be follow-up when avoiding rasterizing
The functions such as robot path planning and avoidance processing provide the obstacle information of more horn of plenty, so as to improve robot path
Planning and the accuracy of avoidance processing.
In a first aspect, an embodiment of the present invention provides a kind of method of 3-D view structure, this method includes：
The scan data in robotic laser radar signal period is obtained, the robotic laser radar is symmetrical for staggered floor
Multi-line laser radar；
According to the scan data and subdivision triangulation network interpolation algorithm, the corresponding 3-D view of the scan data is built.
Preferably, the robotic laser radar is the symmetrical 2 line laser radar of staggered floor.
Preferably, it is described according to the scan data and subdivision triangulation network interpolation algorithm, it builds the scan data and corresponds to
3 d image data, including：
Staggered floor is carried out to the scan data to be cross-linked, and builds initial delta net；
According to the initial delta net and three rank Bezier formula, obtain each three in the initial delta net
Angular control point；
According to each triangle in each vertex of a triangle in the initial delta net and the initial delta net
Control point, fitting builds the corresponding 3-D view of the scan data.
Preferably, it is described according to the initial delta net and three rank Bezier formula, obtain the initial triangle
The control point of each triangle in shape net, including：
Obtain each vertex of a triangle normal vector in the initial delta net；
According to vertex of a triangle normal vector each in the initial delta net and three rank Bezier formula, obtain
The control point of each triangle in the initial delta net.
Preferably, it is described to obtain each vertex of a triangle normal vector in the initial delta net, including：
Obtain the plane normal vector of multiple triangles that each vertex of a triangle is adjacent in the initial delta net；
Calculate the plane normal vector for multiple triangles that each vertex of a triangle is adjacent in the initial delta net
Average value obtains each vertex of a triangle normal vector in the initial delta net.
Second aspect, an embodiment of the present invention provides a kind of devices of 3-D view structure, which is characterized in that including：
Acquiring unit, for obtaining the scan data in robotic laser radar signal period, the robotic laser thunder
Up to for the symmetrical multi-line laser radar of staggered floor；
Construction unit, for according to the scan data and subdivision triangulation network interpolation algorithm, building the scan data pair
The 3-D view answered.
Preferably, the robotic laser radar is the symmetrical 2 line laser radar of staggered floor.
Preferably, the construction unit includes the first structure subelement, obtains subelement and the second structure subelement；
The first structure subelement, is cross-linked for carrying out staggered floor to the scan data, builds initial delta
Net；
The acquisition subelement, for according to the initial delta net and three rank Bezier formula, described in acquisition
The control point of each triangle in initial delta net；
It is described second structure subelement, for according to each vertex of a triangle in the initial delta net and it is described just
The control point of each triangle in beginning network of triangle, fitting build the corresponding 3-D view of the scan data.
Preferably, the acquisition subelement includes the first acquisition module and the second acquisition module；
Described first obtains module, for obtaining each vertex of a triangle normal vector in the initial delta net；
Described second obtains module, for according to vertex of a triangle normal vector each in the initial delta net and three
Rank Bezier formula obtains the control point of each triangle in the initial delta net.
Preferably, the first acquisition module includes the first acquisition submodule and the second acquisition submodule；
Described first obtains submodule, for obtaining adjacent more of each vertex of a triangle in the initial delta net
The plane normal vector of a triangle；
Described second obtains submodule, for calculating adjacent more of each vertex of a triangle in the initial delta net
The average value of the plane normal vector of a triangle obtains each vertex of a triangle normal vector in the initial delta net.
Compared with prior art, the present invention has at least the following advantages：
Using the technical solution of the embodiment of the present invention, first, staggered floor that robot has symmetrically multi-thread laser thunder is obtained
Up to the scan data in signal period；Then, according to the scan data and subdivision triangulation network interpolation algorithm, the scanning is built
The corresponding 3-D view of data.It can be seen that Multi Slice Mode data can be obtained by the symmetrical multi-line laser radar of staggered floor, and
Multi Slice Mode data can be built into the 3-D view of barrier using triangulation network interpolation algorithm is segmented, considerably increase obstacle
The image data of object, barrier number of scan points realizes robot according to less the problem of being filtered out to be follow-up when avoiding rasterizing
The functions such as path planning and avoidance processing provide the obstacle information of more horn of plenty, so as to improve robot path planning and
The accuracy of avoidance processing.
Description of the drawings
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or it will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments described in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the system framework schematic diagram involved by a kind of application scenarios in the embodiment of the present invention；
Fig. 2 is a kind of flow diagram of the method for 3-D view structure provided in an embodiment of the present invention；
Fig. 3 is the symmetrical 2 line laser radar schematic diagram of entity staggered floor provided in an embodiment of the present invention；
Fig. 4 is two layers of two dimensional image of scan data in signal period provided in an embodiment of the present invention；
Fig. 5 is initial delta net image provided in an embodiment of the present invention；
Fig. 6 is the control point image of each triangle in initial delta net provided in an embodiment of the present invention；
Fig. 7 is the corresponding 3-D view of scan data provided in an embodiment of the present invention；
Fig. 8 is the flow diagram of the method for another 3-D view structure provided in an embodiment of the present invention；
Fig. 9 is a kind of structure diagram of the device of 3-D view structure provided in an embodiment of the present invention.
Specific embodiment
In order to which those skilled in the art is made to more fully understand the present invention program, below in conjunction in the embodiment of the present invention
The technical solution in the embodiment of the present invention is clearly and completely described in attached drawing, it is clear that described embodiment is only this
Invention part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
All other embodiments obtained under the premise of creative work are not made, shall fall within the protection scope of the present invention.
With the fast development of science and technology, intellect service robot is increasingly common in daily life, for intelligent Service
For robot, laser radar is particularly important, and it seems follow-up carry out at path planning and avoidance that scanning, which obtains environmental view,
The important prerequisite of reason.At present, the scan mode for the laser radar installed on intellect service robot is single line 360 degree of scannings mostly
Mode, scanning obtain being individual layer two dimensional image.
But inventor has found that laser radar single line 360 degree of scannings mode only obtains individual layer two dimensional image,
Such as during which scanning bead, what is obtained is only the individual layer two dimensional image of several discrete sampling points on single camber line.And
Usually indoors using intellect service robot, indoor practical service environment is complex, and scanning sample point is relatively fewer,
It is likely to when building grating map by as noise filtering, that is, the obstacle of individual layer two dimensional image certain small volumes beyond expression of words
Object fails subsequently to realize that the functions such as robot path planning and avoidance processing provide correct obstacle information, so as to cause
Subsequent path is planned and the result of avoidance processing deviates from actual environment.
In order to solve this problem, in embodiments of the present invention, first, it is symmetrically multi-thread to obtain the staggered floor that robot has
Scan data in laser radar signal period；Then, according to the scan data and subdivision triangulation network interpolation algorithm, institute is built
State the corresponding 3-D view of scan data.It can be seen that Multi Slice Mode can be obtained by the symmetrical multi-line laser radar of staggered floor
Data, and Multi Slice Mode data can be built into the 3-D view of barrier using triangulation network interpolation algorithm is segmented, it increases
The image data of barrier is added, barrier number of scan points is follow-up real according to less the problem of being filtered out when avoiding rasterizing
The functions such as existing robot path planning and avoidance processing provide the obstacle information of more horn of plenty, so as to improve robot road
Diameter is planned and the accuracy of avoidance processing.
For example, one of scene of the embodiment of the present invention can be applied in scene as shown in Figure 1, the scene
Including laser radar 101 and processor 102, the laser radar 101 is mounted in robot, and laser radar 101 is staggered floor pair
The multi-line laser radar of title.Laser radar 101 in robot emits the barrier around laser scanning, obtains scan data simultaneously
Send processor 102 to；After the scan data for obtaining laser radar 102 in processor 102, processor 102 is according to the scanning
Data and subdivision triangulation network interpolation algorithm, build the corresponding 3-D view of the scan data；Processor 102 is according to the three-dimensional
Image carries out obstacle-avoiding route planning, to avoid robot collision obstacle when in use.
It is understood that in above application scene, although by the action description of embodiment of the present invention by processor
102 perform, and still, the present invention is unrestricted in terms of executive agent, as long as performing dynamic disclosed in embodiment of the present invention
Work.
It is understood that above-mentioned scene is only a Sample Scenario provided in an embodiment of the present invention, the embodiment of the present invention
It is not limited to this scene.
Below in conjunction with the accompanying drawings, the method and dress of 3-D view are built in the present invention will be described in detail embodiment by embodiment
The specific implementation put.
Illustrative methods
Referring to Fig. 2, a kind of flow diagram of the method for 3-D view structure in the embodiment of the present invention is shown.In this reality
It applies in example, the method for example may comprise steps of：
Step 201：The scan data in robotic laser radar signal period is obtained, the robotic laser radar is mistake
The symmetrical multi-line laser radar of layer.
It is understood that although the laser radar cost of single line 360 degree of scannings is relatively low, scanning obtains being individual layer two
Tie up image, scanning sample point is relatively fewer, is likely to when building grating map by as noise filtering, even if, using based on
The laser radar of zOy inclined surface single line 360 degree of scannings, mobile laser radar can obtain multilayer two-dimension image, still, inclined surface
The mechanical structure of scanning is more complicated, and cost of manufacture is higher, and the time of mobile laser radar generation and range error, follow-up structure
It is larger, error-prone to build 3-D view difficulty.In order to solve these problems, the present embodiment uses staggered floor symmetrically multi-thread laser thunder
It reaches, within a scan period, about 100 milliseconds or so the multilayer two-dimension images that can obtain there are a determining deviation, it is contemplated that
The mechanical structure of multi-line laser radar, in order to reduce cost of manufacture, 2 line laser radars can obtain two layers of two dimensional image, with regard to energy
Enough structure 3-D views are for example, the symmetrical 2 line laser radar schematic diagram of entity staggered floor as shown in Figure 3.Therefore, in the present embodiment
Some embodiments in, the robotic laser radar be the symmetrical 2 line laser radar of staggered floor.For example, list as shown in Figure 4
Two layers of two dimensional image of scan data in a period.
Step 201：According to the scan data and subdivision triangulation network interpolation algorithm, the scan data corresponding three is built
Tie up image.
It should be noted that after two layers of two dimensional image that the scan data in signal period is presented is obtained, that is, two layers
After discrete scanning element, scanning element structure 3-D view of the subdivision triangulation network interpolation algorithm based on two layer scatterings may be used.Tool
Body, the scanning element based on two layer scatterings can be built into an initial delta net, be then based on three rank Beziers public affairs
Formula can be inserted into the new control point for being used to control triangle subdivision direction in each triangle of initial delta net, so as to
Initial delta net is finely divided and is built into a 3-D view.Therefore, it is described in some embodiments of the present embodiment
Step 202 for example may comprise steps of：
Step A：Staggered floor is carried out to the scan data to be cross-linked, and builds initial delta net；
Step B：According to the initial delta net and three rank Bezier formula, obtain in the initial delta net
The control point of each triangle；
Step C：According to each in each vertex of a triangle in the initial delta net and the initial delta net
The control point of triangle, fitting build the corresponding 3-D view of the scan data.
For example, first, two faulted layers up and down are carried out to the scan data in Fig. 4 and are cross-linked, obtain it is as shown in Figure 5 just
Beginning network of triangle image；Then, it according to Fig. 5 and three rank Bezier formula, obtains in initial delta net as shown in Figure 6
The control point image of each triangle；Finally, each vertex of a triangle and initial three in initial delta net in the institute of connection figure 6
The control point of each triangle in angular net, fitting structure obtain the corresponding 3-D view of scan data as shown in Figure 7.
It should be noted that in practical applications, control point is three vertex scheme vectors based on triangle in step B
It is calculated with three rank Bezier formula, that is, vertex of a triangle normal vector is calculated first, three rank shellfishes could be based on
The control point of triangle is calculated in Sai Er curve equations.Therefore, in some embodiments of the present embodiment, the step B
Such as it may comprise steps of：
Step B1：Obtain each vertex of a triangle normal vector in the initial delta net；
Step B2：It is public according to vertex of a triangle normal vector each in the initial delta net and three rank Beziers
Formula obtains the control point of each triangle in the initial delta net.
It should be noted that in step B1 the vertex scheme vector of initial delta net intermediate cam shape refer to it is adjacent by vertex
Multiple triangles plane normal vector average value, that is, firstly the need of the vertex phase of determining initial delta net intermediate cam shape
The plane normal vector of adjacent multiple triangles, vertex of a triangle normal vector can just be obtained by then carrying out mean value calculation.Therefore,
In some embodiments of the present embodiment, the step B1 for example may comprise steps of：
Step B11：Obtain the plane of multiple triangles that each vertex of a triangle is adjacent in the initial delta net
Normal vector；
Step B12：Calculate the plane of multiple triangles that each vertex of a triangle is adjacent in the initial delta net
The average value of normal vector obtains each vertex of a triangle normal vector in the initial delta net.
Specifically, it is assumed that three vertex of triangle are b300、b030And b003, accordingly vertex scheme vector is n300、n030With
n003, N rank bezier surface formula are as follows：
Wherein, b represents the control point of triangle；U, v and w represent barycenter oftriangle；B represents Bornstein basic function.
Due to using three rank Bezier formula in the present embodiment, n=3, i+j+k=3 are enabled, then 7 control point meters
Calculation method is as follows：
Wherein,
The various embodiments provided through this embodiment first, it is symmetrical multi-thread sharp to obtain the staggered floor that robot has
Scan data in optical radar signal period；Then, according to the scan data and subdivision triangulation network interpolation algorithm, described in structure
The corresponding 3-D view of scan data.It can be seen that Multi Slice Mode number can be obtained by the symmetrical multi-line laser radar of staggered floor
According to, and Multi Slice Mode data can be built into the 3-D view of barrier using triangulation network interpolation algorithm is segmented, it greatly increases
The image data of barrier, barrier number of scan points is realized according to less the problem of being filtered out to be follow-up when avoiding rasterizing
The functions such as robot path planning and avoidance processing provide the obstacle information of more horn of plenty, so as to improve robot path
Planning and the accuracy of avoidance processing.
Referring to Fig. 8, the flow diagram of the method for another 3-D view structure in the embodiment of the present invention is shown.At this
In embodiment, the method for example may comprise steps of：
Step 801：Obtain the scan data in the symmetrical 2 line laser radar signal period of robot staggered floor.
Step 802：Staggered floor is carried out to the scan data to be cross-linked, and builds initial delta net.
Step 803：Obtain the planar process of 3 triangles that each vertex of a triangle is adjacent in the initial delta net
Vector.
Step 804：Calculate the planar process of 3 triangles that each vertex of a triangle is adjacent in the initial delta net
The average value of vector is as each vertex of a triangle normal vector in the initial delta net.
Step 805：According to vertex of a triangle normal vector each in the initial delta net and three rank Beziers
Formula obtains 7 control points of each triangle in the initial delta net.
Step 806：By connecting each vertex of a triangle and the initial delta net in the initial delta net
In each triangle 7 control points, fitting builds the corresponding 3-D view of the scan data.
The various embodiments provided through this embodiment first, it is symmetrical multi-thread sharp to obtain the staggered floor that robot has
Scan data in optical radar signal period；Then, according to the scan data and subdivision triangulation network interpolation algorithm, described in structure
The corresponding 3-D view of scan data.It can be seen that Multi Slice Mode number can be obtained by the symmetrical multi-line laser radar of staggered floor
According to, and Multi Slice Mode data can be built into the 3-D view of barrier using triangulation network interpolation algorithm is segmented, it greatly increases
The image data of barrier, barrier number of scan points is realized according to less the problem of being filtered out to be follow-up when avoiding rasterizing
The functions such as robot path planning and avoidance processing provide the obstacle information of more horn of plenty, so as to improve robot path
Planning and the accuracy of avoidance processing.
Example devices
Referring to Fig. 9, a kind of structure diagram of the device of 3-D view structure in the embodiment of the present invention is shown.In this reality
It applies in example, described device for example can specifically include：
Acquiring unit 901, for obtaining the scan data in robotic laser radar signal period, the robotic laser
Radar is the symmetrical multi-line laser radar of staggered floor；
Construction unit 902, for according to the scan data and subdivision triangulation network interpolation algorithm, building the scan data
Corresponding 3-D view.
Optionally, the robotic laser radar is the symmetrical 2 line laser radar of staggered floor.
Optionally, the construction unit 902 includes the first structure subelement, obtains subelement and the second structure subelement；
The first structure subelement, is cross-linked for carrying out staggered floor to the scan data, builds initial delta
Net；
The acquisition subelement, for according to the initial delta net and three rank Bezier formula, described in acquisition
The control point of each triangle in initial delta net；
It is described second structure subelement, for according to each vertex of a triangle in the initial delta net and it is described just
The control point of each triangle in beginning network of triangle, fitting build the corresponding 3-D view of the scan data.
Optionally, the acquisition subelement includes the first acquisition module and the second acquisition module；
Described first obtains module, for obtaining each vertex of a triangle normal vector in the initial delta net；
Described second obtains module, for according to vertex of a triangle normal vector each in the initial delta net and three
Rank Bezier formula obtains the control point of each triangle in the initial delta net.
Optionally, the first acquisition module includes the first acquisition submodule and the second acquisition submodule；
Described first obtains submodule, for obtaining adjacent more of each vertex of a triangle in the initial delta net
The plane normal vector of a triangle；
Described second obtains submodule, for calculating adjacent more of each vertex of a triangle in the initial delta net
The average value of the plane normal vector of a triangle obtains each vertex of a triangle normal vector in the initial delta net.
The various embodiments provided through this embodiment, acquiring unit are used to obtain robotic laser radar signal period
Interior scan data, the robotic laser radar are the symmetrical multi-line laser radar of staggered floor；Construction unit is used for according to
Scan data and subdivision triangulation network interpolation algorithm, build the corresponding 3-D view of the scan data.It can be seen that pass through staggered floor
Symmetrical multi-line laser radar can obtain Multi Slice Mode data, and can be by Multi Slice Mode using triangulation network interpolation algorithm is segmented
Data are built into the 3-D view of barrier, considerably increase the image data of barrier, and barrier is swept when avoiding rasterizing
Described point data less the problem of being filtered out, to realize that the functions such as robot path planning and avoidance processing provide more rich to be follow-up
Rich obstacle information, so as to improve the accuracy of robot path planning and avoidance processing.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this practical relationship or sequence.Term " comprising ", "comprising" or its any other variant are intended to non-row
His property includes, so that process, method, article or equipment including a series of elements not only include those elements, and
And it further includes other elements that are not explicitly listed or further includes intrinsic for this process, method, article or equipment institute
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in process, method, article or the equipment of element that also there are other identical elements.
The above described is only a preferred embodiment of the present invention, not make limitation in any form to the present invention.Though
So the present invention is disclosed above with preferred embodiment, however is not limited to the present invention.It is any to be familiar with those skilled in the art
Member, without departing from the scope of the technical proposal of the invention, all using the methods and technical content of the disclosure above to the present invention
Technical solution makes many possible changes and modifications or is revised as the equivalent embodiment of equivalent variations.Therefore, it is every without departing from
The content of technical solution of the present invention, it is any simple modification made to the above embodiment of technical spirit according to the present invention, equivalent
Variation and modification, still fall within technical solution of the present invention protection in the range of.
Claims (10)
- A kind of 1. method of 3-D view structure, which is characterized in that including：The scan data in robotic laser radar signal period is obtained, the robotic laser radar is symmetrically multi-thread for staggered floor Laser radar；According to the scan data and subdivision triangulation network interpolation algorithm, the corresponding 3-D view of the scan data is built.
- 2. according to the method described in claim 1, it is characterized in that, the robotic laser radar swashs for symmetrical 2 line of staggered floor Optical radar.
- It is 3. according to the method described in claim 1, it is characterized in that, described according to the scan data and subdivision triangulation network interpolation Algorithm builds the corresponding 3 d image data of the scan data, including：Staggered floor is carried out to the scan data to be cross-linked, and builds initial delta net；According to the initial delta net and three rank Bezier formula, each triangle in the initial delta net is obtained Control point；According to the control of each triangle in each vertex of a triangle in the initial delta net and the initial delta net Processed, fitting builds the corresponding 3-D view of the scan data.
- It is 4. according to the method described in claim 3, it is characterized in that, described according to the initial delta net and three rank Bezier Curve equation obtains the control point of each triangle in the initial delta net, including：Obtain each vertex of a triangle normal vector in the initial delta net；According to vertex of a triangle normal vector each in the initial delta net and three rank Bezier formula, described in acquisition The control point of each triangle in initial delta net.
- 5. according to the method described in claim 4, it is characterized in that, described obtain each triangle in the initial delta net Vertex scheme vector, including：Obtain the plane normal vector of multiple triangles that each vertex of a triangle is adjacent in the initial delta net；Calculate being averaged for the plane normal vector for multiple triangles that each vertex of a triangle is adjacent in the initial delta net Value, obtains each vertex of a triangle normal vector in the initial delta net.
- 6. a kind of device of 3-D view structure, which is characterized in that including：Acquiring unit, for obtaining the scan data in robotic laser radar signal period, the robotic laser radar is The symmetrical multi-line laser radar of staggered floor；Construction unit, for according to the scan data and subdivision triangulation network interpolation algorithm, it is corresponding to build the scan data 3-D view.
- 7. device according to claim 6, which is characterized in that the robotic laser radar swashs for symmetrical 2 line of staggered floor Optical radar.
- 8. device according to claim 6, which is characterized in that the construction unit includes the first structure subelement, obtains Subelement and the second structure subelement；The first structure subelement, is cross-linked for carrying out staggered floor to the scan data, builds initial delta net；The acquisition subelement, for according to the initial delta net and three rank Bezier formula, obtaining described initial The control point of each triangle in network of triangle；The second structure subelement, for according to each vertex of a triangle in the initial delta net and described initial three The control point of each triangle in angular net, fitting build the corresponding 3-D view of the scan data.
- 9. device according to claim 8, which is characterized in that the acquisition subelement includes first and obtains module and second Obtain module；Described first obtains module, for obtaining each vertex of a triangle normal vector in the initial delta net；Described second obtains module, for according to vertex of a triangle normal vector each in the initial delta net and three rank shellfishes Sai Er curve equations obtain the control point of each triangle in the initial delta net.
- 10. device according to claim 9, which is characterized in that described first, which obtains module, includes the first acquisition submodule Submodule is obtained with second；Described first obtains submodule, for obtain that each vertex of a triangle is adjacent in the initial delta net multiple three Angular plane normal vector；Described second obtains submodule, for calculate that each vertex of a triangle is adjacent in the initial delta net multiple three The average value of angular plane normal vector obtains each vertex of a triangle normal vector in the initial delta net.
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| CN111258320A (en) * | 2020-02-14 | 2020-06-09 | 广东博智林机器人有限公司 | Robot obstacle avoidance method and device, robot and readable storage medium |
| CN111481109A (en) * | 2019-01-28 | 2020-08-04 | 北京奇虎科技有限公司 | Map noise elimination method and device based on sweeper |
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