CN108230247A - Generation method, device, equipment and the application program of three-dimensional map based on high in the clouds - Google Patents

Generation method, device, equipment and the application program of three-dimensional map based on high in the clouds Download PDF

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Publication number
CN108230247A
CN108230247A CN201711479953.0A CN201711479953A CN108230247A CN 108230247 A CN108230247 A CN 108230247A CN 201711479953 A CN201711479953 A CN 201711479953A CN 108230247 A CN108230247 A CN 108230247A
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point
converged
described
coordinate system
data
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CN201711479953.0A
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CN108230247B (en
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林义闽
廉士国
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达闼科技(北京)有限公司
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    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00Geometric image transformation in the plane of the image
    • G06T3/40Scaling the whole image or part thereof
    • G06T3/4038Scaling the whole image or part thereof for image mosaicing, i.e. plane images composed of plane sub-images
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three dimensional [3D] modelling, e.g. data description of 3D objects
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/003Maps
    • G09B29/005Map projections or methods associated specifically therewith

Abstract

An embodiment of the present invention provides a kind of generation method, device, equipment and the application program of the three-dimensional map based on high in the clouds, wherein, the generation method of the three-dimensional map based on high in the clouds includes:It obtains to converge for first point of same building object part exterior wall profile acquisition and be converged with second point;Preset mapping relations establish majorized function with corresponding points to data between the coordinate system converged according to first point of coordinate system converged and the second point;The optimal solution of the mapping relations is obtained according to the majorized function;It is converged according to the optimal solution and the second point and the outdoor scene three-dimensional map for generating the building corresponding portion is converged with described first point.Scheme using the present invention can complete indoor outdoor scene three-dimensional map and the unification of outdoor GPS geographic coordinate systems, realize and high-precision fusion is carried out to indoor and outdoor three-dimensional map, the unified indoor outdoor scene three-dimensional map of generation indoor and outdoor coordinate system.

Description

Generation method, device, equipment and the application program of three-dimensional map based on high in the clouds

Technical field

The present invention relates to three-dimensional map enhancement and treatment fields, can be applied to high in the clouds robot field, can also answer For robot, unmanned plane avoidance, guide field.The generation method of more particularly to a kind of three-dimensional map based on high in the clouds, device, Equipment and application program.

Background technology

Positioning outdoor at present with have for GPS (Global Positioning System, global positioning system) compared with Ripe development can reconstruct the outdoor reality that a cloud is dense, texture is fine with reference to the location information combination photogrammetric technology of GPS Scape threedimensional model, and can be unified with GPS geographical co-ordinate systems.And when GPS is used for indoor positioning, due to building It blocks so that GPS signal variation, causes indoor positioning accuracy relatively low, so as to merge indoor outdoor scene three-dimensional map Onto outdoor outdoor scene three-dimensional map, the unification of indoor outdoor scene three-dimensional map and GPS geographical co-ordinate systems can not be also realized.

In order to realize that indoor outdoor scene three-dimensional map is unified with GPS geographical co-ordinate systems, the scheme that the prior art uses is: When outdoor scene three-dimensional map creates indoors, the fixed road sign of certain amount is set in advance, and obtains the GPS letters of these road signs Breath, the position where selecting road sign in three-dimensional map model manually are used for the alignment of point cloud.

Although said program can realize the unification of indoor outdoor scene three-dimensional map and GPS geographical co-ordinate systems, operating cost When it is laborious, positioning accuracy is limited.

Invention content

In view of this, an embodiment of the present invention is intended to provide a kind of generation method of the three-dimensional map based on high in the clouds, device, set Standby and application program.

The method that first aspect of the embodiment of the present invention provides the three-dimensional map generation based on high in the clouds, includes the following steps:

It obtains to converge for first point of same building object part exterior wall profile acquisition and be converged with second point;Described first It is three dimensional point cloud collection from the partial building exterior wall profile of taken outdoors that point, which converges,;The second point converges From the three dimensional point cloud collection of the partial building exterior wall profile of indoor acquisition;

Preset mapping relations between the coordinate system converged according to first point of coordinate system converged and the second point Majorized function is established to data with corresponding points;The corresponding points to be point in being converged according to described first point and with its mapping point Distance be less than first threshold the second point converge in point composition, the mapping point is during described first point is converged Point is mapped to the second point and converges what is obtained in coordinate system;

The optimal solution of the mapping relations is obtained according to the majorized function;

It is converged according to the optimal solution and the second point and converges the generation building corresponding portion with described first point Outdoor scene three-dimensional map.

Second aspect of the embodiment of the present invention provides a kind of device of the three-dimensional map generation based on high in the clouds and includes:

Acquisition module converges and second point for obtaining for first point of same building object part exterior wall profile acquisition It converges;It is three dimensional point cloud collection from the partial building exterior wall profile of taken outdoors that described first point, which is converged,;Institute It is three dimensional point cloud collection from the partial building exterior wall profile of indoor acquisition to state second point and converge;

Optimization module, for pre- between the coordinate system that is converged according to first point of coordinate system converged and the second point If mapping relations and corresponding points majorized function is established to data;The corresponding points are to being the point in being converged according to described first point And with its mapping point distance be less than first threshold the second point converge in point composition, the mapping point is by described the Some point in converging is mapped to the second point and converges what is obtained in coordinate system;The mapping is obtained according to the majorized function The optimal solution of relationship;

Generation module, for according to the optimal solution and the second point converge with described first point converge generation described in build Build the outdoor scene three-dimensional map of object corresponding portion.

The third aspect of the embodiment of the present invention provides a kind of electronic equipment based on high in the clouds, including:Communication module, storage Device, one or more processors;And one or more modules, one or more of modules are stored in the memory In, and it is configured to be performed by one or more of processors, one or more of modules include performing above-mentioned the On the one hand the instruction of each step in the method provided.

Fourth aspect of the embodiment of the present invention provides the application journey being used in combination with the above-mentioned electronic equipment based on high in the clouds Sequence, the application program include the computer program being embedded in computer-readable storage medium, the computer program packet Include the instruction of each step in the method for making the above-mentioned first aspect offer of the electronic equipment execution based on high in the clouds.

It has the beneficial effect that:

In view of the deficiencies of the prior art, the scheme of the generation of the three-dimensional map based on high in the clouds that the embodiment of the present invention is provided, It is converged for first point of same building object part exterior wall profile acquisition by acquisition and is converged with second point;First cloud Collection is the three dimensional point cloud collection from the partial building exterior wall profile of taken outdoors;It is from room that the second point, which converges, The three dimensional point cloud collection of the partial building exterior wall profile of interior acquisition;According to first point of coordinate system converged and Preset mapping relations establish majorized function with corresponding points to data between the coordinate system that the second point converges;The corresponding points The second point for being point in being converged according to described first point and be less than first threshold with its mapping point distance is converged Point composition, the mapping point is that the point during described first point is converged is mapped to the second point and converges in coordinate system and obtains 's;The optimal solution of the mapping relations is obtained according to the majorized function;According to the optimal solution and the second point converge with Described first point is converged the outdoor scene three-dimensional map for generating the building corresponding portion, can complete indoor outdoor scene three-dimensional map It with the unification of outdoor GPS geographic coordinate systems, realizes and high-precision fusion is carried out to indoor and outdoor three-dimensional map, generate indoor and outdoor coordinate The outdoor scene three-dimensional map of the indoor and outdoor fusion of system one.

Description of the drawings

Fig. 1 is the method flow schematic diagram of the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention;

Fig. 2 is the apparatus structure schematic diagram of the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention;

Fig. 3 is the structure diagram of the electronic equipment based on high in the clouds provided in the embodiment of the present invention;

Fig. 4 is the embodiment schematic diagram of the method for the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention One;

Fig. 5 is the embodiment schematic diagram of the method for the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention Two;

Fig. 6 is the embodiment schematic diagram of the method for the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention Three;

Fig. 7 is the embodiment schematic diagram of the method for the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention Four.

Specific embodiment

In order to which technical scheme of the present invention and advantage is more clearly understood, below in conjunction with attached drawing to the exemplary of the present invention Embodiment is described in more detail, it is clear that described embodiment be only the present invention part of the embodiment rather than The exhaustion of all embodiments.And in the absence of conflict, the feature in the embodiment and embodiment in this explanation can be mutual It is combined.

Fig. 1 is the flow diagram of the method for the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention, such as Shown in Fig. 1, the method for three-dimensional map generation that should be based on high in the clouds may include steps of:

Step 101 is obtained to converge for first point of same building object part exterior wall profile acquisition and be converged with second point; It is three dimensional point cloud collection from the partial building exterior wall profile of taken outdoors that described first point, which is converged,;Described second It is three dimensional point cloud collection from the partial building exterior wall profile of indoor acquisition that point, which converges,;

It is preset between step 102, the coordinate system converged according to first point of coordinate system converged and the second point Mapping relations establish majorized function with corresponding points to data;The corresponding points to be point in being converged according to described first point and with Its mapping point distance be less than first threshold the second point converge in point composition, the mapping point is by described first point The point converged is mapped to the second point and converges what is obtained in coordinate system;

Step 103 obtains the optimal solution of the mapping relations according to the majorized function;

Step 104 converges according to the optimal solution and the second point and converges the generation building with described first point The outdoor scene three-dimensional map of corresponding portion.

Fig. 4 is the embodiment schematic diagram of the method for the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention One, as shown in figure 4, indoor three-dimensional builds the figure stage, by sweeping figure equipment using SLAM (Simultaneous Localization And Mapping, are positioned at map structuring immediately) etc. build drawing method to the indoor field including the partial building exterior wall Scape carries out real-time three-dimensional and rebuilds to obtain indoor 3D point cloud, while pass through the GPS numbers of 3D point cloud in GPS module or equipment collection room According to will scan and build 3D point cloud data that figure obtains and its GPS data is correspondingly formed 3D point cloud database, to be subsequently generated interior It obtains and handles during the unified outdoor scene three-dimensional map of outer positioning.Since the accuracy that GPS is positioned indoors is poor, it can be with Acquired since the outdoor or building body outer surface point cloud data (including:The point GPS data of cloud and SLAM scanning collections Pose data).

It is in force since this mode is more commonly used, mainstream using SLAM, is easy to those skilled in the art's use/reason Solution, so here by taking SLAM as an example;But in theory, it is also possible with other modes, it is built as long as can realize Scheme the purpose of processing, SLAM is only used for how introduction those skilled in the art specifically implement the present invention, but be not intended to only SLAM can be used, can need to determine corresponding mode with reference to practice in implementation process.

Here it can be three-dimensional from the outdoor partial building exterior wall profile using GPS gathers that first point, which converges, The GPS data collection of point cloud, it can be three-dimensional point cloud from the partial building exterior wall profile of indoor acquisition that second point, which converges, Visual scanning build figure and obtain data set (GPS data that three-dimensional point cloud can also be included).

Fig. 5 is the embodiment schematic diagram of the method for the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention Two, as shown in figure 5, calculating the posture (Rvi, Tvi) for sweeping each position that figure equipment is passed by according to SLAM and obtaining The coordinate (xi, yi) of corresponding GPS.First point of point cloud data converged in being converged with second point can include pose number According to and GPS data, at least two point datas in being converged according to first point, alternatively, in being converged according to second point at least two point datas or Person according at least two point datas (having pose data and GPS data) converged from first point in being converged with second point, obtains Any converges coordinate system and second point converges the initial mapping relationship (Rm, Tm) of coordinate system, which is rough.

Majorized function is established to data further according to the initial mapping relationship and corresponding points.First point converge in point DSLAM, Mapping point under the coordinate system converged to second point is converted as D by initial mapping relationship (Rm, Tm)SLAMGPS=Rm DSLAM+Tm。 So, in second point converges with mapping point DSLAMGPSPoint of the distance less than first threshold TH converged with above-mentioned first point Point DSLAMPartner corresponding points pair.Wherein, the specific value of first threshold TH, those skilled in the art can be according to practical feelings Condition is empirically determined, is not especially limited here.

A certain number of corresponding points are determined to rear according to the above method, are established according to corresponding points pair and initial mapping relationship excellent Change function, solve the optimal solution of mapping relations, that is, obtain the mapping relations for making indoor exterior point cloud Accurate align.According to it is described most Excellent solution and the second point converge the outdoor scene three-dimensional map for being converged with described first point and generating the building corresponding portion.

The method of the generation of the three-dimensional map based on high in the clouds that the embodiment of the present invention is provided, by acquisition for same building First point of object part exterior wall profile acquisition is converged to converge with second point;It is from described in taken outdoors that described first point, which is converged, The three dimensional point cloud collection of partial building exterior wall profile;It is from the building portion of indoor acquisition that the second point, which converges, The exceptionally three dimensional point cloud collection of wall contour;The coordinate converged according to first point of coordinate system converged and the second point Preset mapping relations establish majorized function with corresponding points to data between system;The corresponding points are to being according to first cloud The point of concentration and with its mapping point distance be less than first threshold the second point converge in point composition, the mapping point is Point during described first point is converged is mapped to the second point and converges what is obtained in coordinate system;It is obtained according to the majorized function The optimal solution of the mapping relations;According to the optimal solution and the second point converge with described first point converge generation described in build The outdoor scene three-dimensional map of object corresponding portion is built, indoor outdoor scene three-dimensional map and outdoor GPS geographic coordinate systems can be completed It is unified, it realizes and high-precision fusion is carried out to indoor and outdoor three-dimensional map, the reality of the unified indoor and outdoor fusion of generation indoor and outdoor coordinate system Scape three-dimensional map.

In implementation, the preset mapping relations can be converged according to described first point or the second point cloud is concentrated to Point data during what the data of few two pairs of corresponding points determined converge at described first point maps to the second point and converges coordinate system Under mapping relations, alternatively, according to described first point converge or the second point converge at least two pairs corresponding points data it is true It is fixed the second point is converged in point data map to first point of mapping relations converged under coordinate system.

As described above, specific implementation in, calculated according to SLAM sweep each position that figure equipment is passed by posture (Rvi, ) and the obtained coordinate (xi, yi) of corresponding GPS Tvi.First point of point cloud data converged in being converged with second point It can include pose data and GPS data.Only need at least two pairs of matched points, you can calculate first point of coordinate converged Mapping relations (Rm, Tm) between the coordinate system that system and the second point converge.It therefore, can be according to first in specific implementation At least two point datas during point converges, alternatively, at least two point datas in being converged according to second point, alternatively, being converged according to from first point At least two point datas (having pose data and GPS data) in being converged with second point obtain at first point and converge coordinate system and 2 points of initial mapping relationships (Rm, Tm) for converging coordinate system, which is rough.

In implementation, preset between the coordinate system converged according to first point of coordinate system converged and the second point Mapping relations and corresponding points majorized function is established to data, can specifically include:

It is converged from described first point or the second point converges and obtains several points data;

The several points, which are obtained, according to the preset mapping relations and the several points data is mapped to described 2 points are converged coordinate system or first point of data converged under coordinate system;

It is mapped to it that second point converges coordinate system or converge coordinate according to several point datas at described first point Data under system, the expression function for establishing Euclidean distance quadratic sum mean value are majorized function.

In specific implementation, acquire first point converge including reference chamber outdoor scene 3D point cloud data and second point cloud Collect the indoor threedimensional model point cloud data included, since indoor data are there are error, first point obtained above is converged coordinate System and second point converge the initial mapping relationship (Rm, Tm) of coordinate system, only converge coordinate system and second point converges seat at first point One rough mapping relations of mark system, therefore, can be according to above-mentioned initial mapping relationship (Rm, Tm) and first point of pose converged Or other data, it maps that under first point of GPS coordinate system converged, realizes the system of indoor and outdoor 3D point cloud data (coordinate system) One.

Such as:

First point converge in point DSLAM, the coordinate system converged to second point is converted by initial mapping relationship (Rm, Tm) Under mapping point be DSLAMGPS=Rm DSLAM+Tm。

The point cloud D of the coarse data obtained hereinSLAMGPSHave been mapped under GPS coordinate system, obtained initial interior, The fusion results of outer 3D point cloud data (coordinate system).Based on original fusion obtained above as a result, using ICP (Iterative Closest Point, iteration closest approach algorithm) method, according to outdoor building outer profile 3D point cloud data DGPSWith it is indoor Exterior wall profile 3D point cloud data DSLAMGPSAccuracy registration is carried out, establishes one object function of a minimum, it is specific as follows:

Wherein pt∈DGPS, ps∈DSLAMGPSIt is a pair of of corresponding points pair, a total of NpTo corresponding points.This object function is practical The expression function of the upper quadratic sum for being exactly the Euclidean distance between all corresponding points is majorized function.

It is described that the optimal solution of the mapping relations is obtained according to the majorized function in implementation, it can specifically include:

When determining to make the Euclidean distance quadratic sum mean value minimum according to the majorized function corresponding mapping relations be compared with Excellent solution;

It is converged again from described first point and converges acquisition with the second point and in addition several corresponding points are iterated data To the majorized function several times, until corresponding mapping relations are reflected to be described when the variable quantity of the mapping relations is less than threshold value Penetrate the optimal solution of relationship.

In specific implementation, obtain first point converge with the second point converge acquisition in addition it is several to corresponding points to data point ptAnd ps.Assuming that in the case of a mapping relations initial value (R0, T0), to DSLAMGPSIt is converted, after obtain a transformation Point cloud NDSLAMGPS-0.Then by the point cloud and D after this mapping transformationGPSIt is compared, as long as existing in two clouds apart from small In certain threshold value TH, it is exactly corresponding points that we, which are considered as the two points,.

There are corresponding points to data ptAnd ps.Rotation and translation (R0, T0) can be estimated with this corresponding points.This In only 6 degree of freedom in R0 and T0, and the methods of least square can be used at least more than 6 groups or more in corresponding points quantity, solves Optimal rotation translation matrix R1 and T1.

Obtain above-mentioned R1 and T1, NDSLAMGPS-0Bring formula into

NDSLAMGPS-1=R1x NDSLAMGPS-0+T1

According to the above-mentioned ND newly obtainedSLAMGPS-1Second point converge in some cloud point mapping transformations after position become Change, some closest points to also changing accordingly.Therefore, it is necessary to find the corresponding points pair of closest point again.Iteration It carries out repeatedly, until meeting some stopping criterion for iteration, such as the variable quantity of Rk, Tk are less than certain value or above-mentioned target letter Several variations is less than certain value or neighbor point to no longer changing.

By above-mentioned ICP algorithm the second point including indoor threedimensional model point cloud data can be converged coordinate system and First point including outdoor outdoor scene threedimensional model point cloud data is converged coordinate system and is merged, and obtains global unified indoor and outdoor three Tie up map.

In relocation phase, outdoor position and orientation are directly can be obtained by using GPS and magnetometer outdoor, at this time The outdoor threedimensional model of 3D high-precisions is loaded, and obtains matched visual angle picture.If going to interior, SLAM etc. may be used and regard Feel locating scheme, the pose data that SLAM processing obtains are mapped to outdoor GPS coordinate data according to mapping relations, and count The three-dimensional rendering figure under current visual angle is calculated, so as to fulfill without switching 3D threedimensional models because GPS signal is impacted, carries out nothing The 3D browsings of seam.

Based on same inventive concept, a kind of dress of the three-dimensional map generation based on high in the clouds is additionally provided in the embodiment of the present invention It puts, since the principle that these equipment solve the problems, such as is similar to the method for the above-mentioned three-dimensional map generation based on high in the clouds, these The implementation of equipment may refer to the implementation of method, and overlaps will not be repeated.

Fig. 2 is the structure diagram of the device of the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention, such as Shown in Fig. 2, the device of three-dimensional map generation that should be based on high in the clouds can include:

Acquisition module 201 converges and for obtaining for first point of same building object part exterior wall profile acquisition 2 points are converged;It is three dimensional point cloud from the partial building exterior wall profile of taken outdoors that described first point, which is converged, Collection;It is three dimensional point cloud collection from the partial building exterior wall profile of indoor acquisition that the second point, which converges,;

Optimization module 202, for the coordinate system that is converged according to first point of coordinate system converged and the second point it Between preset mapping relations and corresponding points majorized function is established to data;The corresponding points are to being in being converged according to described first point Point and with its mapping point distance be less than first threshold the second point converge in point composition, the mapping point is by institute State first point converge in point be mapped to the second point and converge what is obtained in coordinate system;According to obtaining the majorized function The optimal solution of mapping relations;

Generation module 203 converges generation institute for being converged according to the optimal solution and the second point with described first point State the outdoor scene three-dimensional map of building corresponding portion.

In implementation, during the optimization module 202 is further used for being converged according to described first point or the second point converges Point data during what the data of at least two pairs corresponding points determined converge at described first point maps to the second point and converges coordinate System under mapping relations, alternatively, according to described first point converge or the second point converge at least two pairs corresponding points data It is determining the second point is converged in point data map to first point of mapping relations converged under coordinate system as institute State preset mapping relations.

In implementation, if the optimization module 202 is specifically used for converging from described first point or the second point converges acquisition Dry point data;It is obtained described in the several points are mapped to according to the preset mapping relations and the several points data Second point converges coordinate system or first point of data converged under coordinate system;According to several point datas institute is mapped to it It states second point and converges coordinate system or first point of data converged under coordinate system, establish the expression of Euclidean distance quadratic sum mean value Function is majorized function.

In implementation, the optimization module 202 is specifically used for being determined to make the Euclidean distance square according to the majorized function It is more excellent solution with corresponding mapping relations during mean value minimum;It is converged again from described first point and converges acquisition in addition with the second point It is several corresponding points to be iterated data to the majorized function several times, until the variable quantity of the mapping relations is less than threshold Corresponding mapping relations are the optimal solution of the mapping relations during value.

Based on same inventive concept, a kind of electronic equipment based on high in the clouds is additionally provided in the embodiment of the present invention, Fig. 3 is this The structure diagram of the electronic equipment based on high in the clouds provided in inventive embodiments, as shown in figure 3, electronics of this kind based on high in the clouds Equipment 300 can include:Communication module 301, memory 302, one or more processors 303;And one or more modules, One or more of modules are stored in the memory, and are configured to be performed by one or more of processors, One or more of modules include for perform it is above-mentioned based on high in the clouds three-dimensional map generation method in each step finger It enables.

Based on same inventive concept, a kind of and above-mentioned electronic equipment knot based on high in the clouds is additionally provided in the embodiment of the present invention The application program used is closed, the application program includes the computer program being embedded in computer-readable storage medium, institute Computer program is stated to include the electronic equipment based on high in the clouds is made to perform the above-mentioned three-dimensional map generation based on high in the clouds The instruction of each step in method.

Embodiment 1

Fig. 6 is the embodiment schematic diagram of the method for the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention Three, as shown in fig. 6, when carrying out building figure to indoor scene, three-dimensional acquisition equipment performs two pieces while GPS data is obtained and appoints Business:First, with the picture of RGB cameras acquisition current visual angle, it is transmitted to vSLAM (visual Simultaneous Localization And Mapping, view-based access control model immediately be positioned at map structuring) algorithm to carry out interior space feature Spot scan is simultaneously positioned to pose data (Rv, Tv) in real time, generates SLAM maps;Second is that according to calculate pose data (Rv, Tv) with the real-time deep information Depth of depth camera acquisition by merge, the three-dimensional map on the operations such as denoising progress backstage builds Mould generates indoor three-dimensional point and converges data, i.e., above-mentioned first point is converged data.

According to the GPS data for having recorded three-dimensional acquisition equipment, the indoor coordinate system of this scene rebuilding and outdoor seat are calculated Mark the mapping relations of system, that is, converge coordinate system and second point converges the initial mapping relationship of coordinate system at above-mentioned first point.Assuming that choosing Take i (i>=2) GPS data of a road sign point (or arranges the road signs of four accurate positionings with the mode surveyed and drawn indoors in advance Point), obtain i GPS data (x1, y1)~(xi, yi) and corresponding indoor map vSLAM poses data (Rv1, Tv1)~ (Rvi, Tvi) calculates indoor coordinate system to the mapping relations (Rm, Tm) of outdoor coordinate system.

Indoor high-precision three-dimensional point cloud can be roughly mapped in outdoor outdoor scene three-dimensional global map and obtained according to (Rm, Tm) To initial fusion results.It is then based on above-mentioned initial fusion results and obtains mapping relations most using accurate ICP algorithm Excellent solution (Rn, Tn) is then three-dimensional by indoor threedimensional model and existing outdoor outdoor scene according to the optimal solution of mapping relations (Rn, Tn) Model carries out high-precision, seamless fusion.Detailed process has been carried out being described in detail above, and which is not described herein again.

When carrying out outdoor positioning, two-dimensional localization information (x, y) is directly obtained using GPS.When from the outside into the room, RGB-vSLAM positioning is switched to from GPS positioning.The vSLAM space characteristics point location library for building that the figure stage builds up is used, forward sight will be worked as The image of angle acquisition is matched with the space characteristics point in library, is calculated and is optimized the spin matrix Rv of current visual angle and displacement square Battle array Tv, you can obtain the three-dimensional localization of indoor part.Calculate before using again indoor positioning to initial mapping relations (Rm, Tm) and (Rn, Tn), you can indoor three-dimensional pose data (Rv, Tv) are converted into outdoor two-dimensional localization (x, y), so as to real Existing indoor and outdoor positioning is unified.Meanwhile the three-dimensional point off density cloud built up in the preparation stage can also be used during indoor navigation, indoors Real-time avoidance navigation is realized during navigation.

Embodiment 2

Fig. 7 is the embodiment schematic diagram of the method for the generation of the three-dimensional map based on high in the clouds provided in the embodiment of the present invention Four, as shown in fig. 7, it can be using laser radar and RGB cameras that indoor three-dimensional, which builds figure and locating scheme, differ only in room Interior three-dimensional builds figure and positioning using device type different from, and the method and step being embodied is identical with above-described embodiment 1, Which is not described herein again.

The embodiment of the present invention proposes a kind of indoor and outdoor three-dimensional high-precision map automatic alignment method, and is regarded according to SLAM etc. Feel the reorientation for building nomography and mapping relations by high-precision 3D point cloud figure real-time rendering to current visual angle, realize high-precision, Outdoor scene is digitized clear

It should be understood by those skilled in the art that, the embodiment of the present invention can be provided as method, system or application program. Therefore, complete hardware embodiment, complete software embodiment or the embodiment in terms of combining software and hardware can be used in the present invention Form.It is deposited moreover, the present invention can be used to can be used in one or more computers for wherein including computer usable program code The form of application program that storage media is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.).

The present invention be with reference to according to the method for the embodiment of the present invention, the flow chart of equipment (system) and application program and/or Block diagram describes.It should be understood that each flow that can be realized by computer program instructions in flowchart and/or the block diagram and/or The combination of flow and/or box in box and flowchart and/or the block diagram.These computer program instructions can be provided to arrive All-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices processor to generate one Machine so that the instruction generation performed by computer or the processor of other programmable data processing devices, which is used to implement, is flowing The device of function specified in one flow of journey figure or multiple flows and/or one box of block diagram or multiple boxes.

These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or The function of being specified in multiple boxes.

These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one The step of function of being specified in a box or multiple boxes.

Although preferred embodiments of the present invention have been described, but those skilled in the art once know basic creation Property concept, then additional changes and modifications may be made to these embodiments.So appended claims be intended to be construed to include it is excellent It selects embodiment and falls into all change and modification of the scope of the invention.

Claims (10)

  1. A kind of 1. method of the three-dimensional map generation based on high in the clouds, which is characterized in that include the following steps:
    It obtains to converge for first point of same building object part exterior wall profile acquisition and be converged with second point;First cloud Collection is the three dimensional point cloud collection from the partial building exterior wall profile of taken outdoors;It is from room that the second point, which converges, The three dimensional point cloud collection of the partial building exterior wall profile of interior acquisition;
    Between the coordinate system converged according to first point of coordinate system converged and the second point preset mapping relations with it is right It should put and majorized function is established to data;The corresponding points to be point in being converged according to described first point and with its mapping point distance Less than first threshold the second point converge in point composition, the mapping point is that the point during described first point is converged reflects It is mapped to the second point and converges what is obtained in coordinate system;
    The optimal solution of the mapping relations is obtained according to the majorized function;
    It is converged according to the optimal solution and the second point and the reality for generating the building corresponding portion is converged with described first point Scape three-dimensional map.
  2. 2. the method for the three-dimensional map generation based on high in the clouds as described in claim 1, which is characterized in that the preset mapping Relationship be according to described first point converge or the second point converge at least two pairs corresponding points data determine by described Some point data in converging maps to the second point and converges mapping relations under coordinate system, alternatively, according to described first point Converge or the second point converge at least two pairs corresponding points data determine the second point is converged in point data reflect It is incident upon first point of mapping relations converged under coordinate system.
  3. 3. the method for the three-dimensional map generation based on high in the clouds as described in claim 1, which is characterized in that described according to described the Preset mapping relations establish data with corresponding points between the coordinate system that some coordinate system converged and the second point converge Majorized function specifically includes:
    It is converged from described first point or the second point converges and obtains several points data;
    The several points, which are obtained, according to the preset mapping relations and the several points data is mapped to the second point Converge coordinate system or first point of data converged under coordinate system;
    It is mapped to it that second point converges coordinate system or converge under coordinate system according to several point datas at described first point Data, establish Euclidean distance quadratic sum mean value expression function be majorized function.
  4. 4. the method for the three-dimensional map generation based on high in the clouds as claimed in claim 3, which is characterized in that described according to described excellent Change function and obtain the optimal solution of the mapping relations, specifically include:
    It is more excellent solution to determine to make corresponding mapping relations during the Euclidean distance quadratic sum mean value minimum according to the majorized function;
    It is converged again from described first point and converges acquisition with the second point and in addition several corresponding points are iterated data to institute Majorized function is stated several times, until corresponding mapping relations are closed for the mapping when variable quantity of the mapping relations is less than threshold value The optimal solution of system.
  5. 5. a kind of device of the three-dimensional map generation based on high in the clouds, which is characterized in that including:
    Acquisition module converges and second point cloud for first point of acquisition for same building object part exterior wall profile acquisition Collection;It is three dimensional point cloud collection from the partial building exterior wall profile of taken outdoors that described first point, which is converged,;It is described It is three dimensional point cloud collection from the partial building exterior wall profile of indoor acquisition that second point, which converges,;
    Optimization module, for preset between the coordinate system that is converged according to first point of coordinate system converged and the second point Mapping relations establish majorized function with corresponding points to data;The corresponding points to be point in being converged according to described first point and with Its mapping point distance be less than first threshold the second point converge in point composition, the mapping point is by described first point The point converged is mapped to the second point and converges what is obtained in coordinate system;The mapping relations are obtained according to the majorized function Optimal solution;
    Generation module converges the generation building for being converged according to the optimal solution and the second point with described first point The outdoor scene three-dimensional map of corresponding portion.
  6. 6. as claimed in claim 5 based on high in the clouds three-dimensional map generation device, which is characterized in that the optimization module into One step be used for according to the data of at least two pairs corresponding points during described first point is converged or the second point converges determine will described in First point converge in point data map to the second point and converge mapping relations under coordinate system, alternatively, according to described first Point converge or the second point converge at least two pairs corresponding points data determine the second point is converged in point data First point of mapping relations converged under coordinate system are mapped to as the preset mapping relations.
  7. 7. the device of the three-dimensional map generation based on high in the clouds as claimed in claim 5, which is characterized in that the optimization module tool Body is used to converge from described first point or the second point converges and obtains several points data;According to the preset mapping relations And the several points data obtain the several points and are mapped to that the second point converges coordinate system or converge at described first point Data under coordinate system;The second point is mapped to it converge coordinate system or first cloud according to several point datas Collect the data under coordinate system, the expression function for establishing Euclidean distance quadratic sum mean value is majorized function.
  8. 8. the device of the three-dimensional map generation based on high in the clouds as claimed in claim 7, which is characterized in that the optimization module tool It is more excellent that body, which is used to determine to make corresponding mapping relations during the Euclidean distance quadratic sum mean value minimum according to the majorized function, Solution;It is converged again from described first point and converges acquisition with the second point and in addition several corresponding points are iterated to described data Several times, corresponding mapping relations are the mapping relations to majorized function when the variable quantity of the mapping relations is less than threshold value Optimal solution.
  9. 9. a kind of electronic equipment based on high in the clouds, which is characterized in that including:Communication module, memory, one or more processing Device;And one or more modules, one or more of modules are stored in the memory, and are configured to by described One or more processors perform, and one or more of modules are included for any the method in perform claim requirement 1 to 4 In each step instruction.
  10. 10. the application program that a kind of electronic equipment with as claimed in claim 9 based on high in the clouds is used in combination, described to apply journey Sequence includes the computer program being embedded in computer-readable storage medium, and the computer program includes making the base The instruction of each step in the electronic equipment perform claim requirement 1 to 4 in high in the clouds in any the method.
CN201711479953.0A 2017-12-29 2017-12-29 Generation method, device, equipment and the computer-readable storage medium of three-dimensional map based on cloud CN108230247B (en)

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