CN111105497A - Three-dimensional mapping intelligent location identification method - Google Patents
Three-dimensional mapping intelligent location identification method Download PDFInfo
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- CN111105497A CN111105497A CN201911327677.5A CN201911327677A CN111105497A CN 111105497 A CN111105497 A CN 111105497A CN 201911327677 A CN201911327677 A CN 201911327677A CN 111105497 A CN111105497 A CN 111105497A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/05—Geographic models
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
- G06T11/206—Drawing of charts or graphs
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/003—Navigation within 3D models or images
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2200/00—Indexing scheme for image data processing or generation, in general
- G06T2200/08—Indexing scheme for image data processing or generation, in general involving all processing steps from image acquisition to 3D model generation
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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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- 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
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
Abstract
The invention discloses a three-dimensional mapping intelligent location identification method, which comprises the following steps: scanning and acquiring a two-dimensional coordinate of a plane through a laser radar to perform positioning and map building to form a two-dimensional map; acquiring a three-dimensional coordinate through a depth camera to form a three-dimensional image, and fitting the three-dimensional image to a two-dimensional map created by a laser radar to form a three-dimensional map; the navigation equipment enters an unfamiliar environment for the first time, the site characters and/or two-dimensional codes in the environment are identified through the depth camera to obtain the site name, the identified site name is marked in the three-dimensional map, and the three-dimensional map intelligent identification is completed. According to the method, a laser radar is used for positioning and mapping, accurate coordinates are established, an object is imaged through a depth camera to assist mapping, and a two-dimensional map is synthesized into a three-dimensional map, so that blind spots are avoided, and illumination brightness influence is reduced; the method has the advantages that the characters and/or the two-dimensional codes are identified through the depth camera, and the real self-positioning, self-identification and self-navigation are realized for the intelligent identification of places.
Description
Technical Field
The invention relates to the technical field of intelligent navigation equipment, in particular to a three-dimensional mapping intelligent location identification method.
Background
The traditional laser positioning mapping (SLAM for short) is greatly influenced by light emphasis, and a single-dimensional laser radar can only establish a two-dimensional plane map. The actual use environment is complicated, steps, hollow-out articles of the frame and the like exist, and the two-dimensional map has blind spots in space, so that danger is caused. Two-dimensional or multidimensional radars are expensive and not easy to popularize. The positioning accuracy error of visual positioning mapping (VSLAM for short) is large. And the equipment enters an unfamiliar environment for the first time, and the specific place name of the surrounding environment cannot be identified.
Disclosure of Invention
The invention aims to provide a three-dimensional mapping intelligent location identification method aiming at the technical defects in the prior art.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a three-dimensional mapping intelligent location identification method comprises the following steps:
scanning and acquiring a two-dimensional coordinate of a plane through a laser radar to perform positioning and map building to form a two-dimensional map;
acquiring a three-dimensional coordinate through a depth camera to form a three-dimensional image, and fitting the three-dimensional image to a two-dimensional map created by a laser radar to form a three-dimensional map;
the navigation equipment enters an unfamiliar environment for the first time, the site characters and/or two-dimensional codes in the environment are identified through the depth camera to obtain the site name, the identified site name is marked in the three-dimensional map, and the three-dimensional map intelligent identification is completed.
The three-dimensional map is formed by fitting the three-dimensional image into a two-dimensional map created by a laser radar, correcting the X-axis coordinate and the Y-axis coordinate of the map by using the A-axis coordinate and the B-axis coordinate of the depth camera by using the laser radar coordinate as a reference to obtain new X-axis coordinate and Y-axis coordinate, fitting C-axis data corresponding to the A-axis coordinate and the B-axis coordinate of the depth camera into the laser radar coordinate to obtain a drawing coordinate, and forming the three-dimensional map.
According to the invention, a laser radar is adopted for positioning and mapping, accurate coordinates are established, an object is imaged through a depth camera to assist mapping, and a two-dimensional map is synthesized into a three-dimensional map, so that blind spots are avoided, and the illumination brightness influence is reduced. In addition, the invention carries out the recognition of characters and/or two-dimensional codes through the depth camera, and intelligently recognizes places, thereby realizing real self-positioning, self-recognition and self-navigation.
Drawings
Fig. 1 is a flow chart of a three-dimensional mapping intelligent location identification method.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in FIG. 1, the three-dimensional mapping intelligent location identification method of the invention comprises the following steps:
scanning and acquiring a two-dimensional coordinate of a plane through a laser radar to perform positioning and map building to form a two-dimensional map;
acquiring a three-dimensional coordinate through a depth camera to form a three-dimensional image, and fitting the three-dimensional image to a two-dimensional map created by a laser radar to form a three-dimensional map;
the navigation equipment enters an unfamiliar environment for the first time, the site characters and/or two-dimensional codes in the environment are identified through the depth camera to obtain the site name, the identified site name is marked in the three-dimensional map, and the three-dimensional map intelligent identification is completed.
The three-dimensional map is formed by fitting a three-dimensional image into a two-dimensional map created by a laser radar, wherein X-axis and Y-axis coordinates of the map are based on laser radar coordinates, the X-axis and Y-axis coordinates of the map are corrected by using A-axis and B-axis coordinates of a depth camera to obtain new X-axis and Y-axis coordinates, C-axis data corresponding to the A-axis and B-axis coordinates of the depth camera are fitted into the laser radar coordinates, and the three-dimensional map is formed after drawing coordinates are obtained.
Specifically, the radar mapping coordinates of the laser radar are relative coordinate systems (X, Y and Z), the initial coordinates are (0, 0 and 0), and the initial angle is 0 degree. The depth camera establishes a map with initial coordinates of relative coordinate systems (A, B and C), initial coordinates of (0, 0 and 0) and an angle of 0 degree.
In the invention, during mapping, a laser radar scanning plane acquires two-dimensional coordinates to establish accurate coordinates, a depth camera acquires three-dimensional coordinates, an object is imaged to establish an auxiliary mapping, a three-dimensional image is fitted into the two-dimensional mapping established by the laser radar, and an accurate three-dimensional map is established. The two-dimensional map can be synthesized into a three-dimensional map so as to avoid blind spots and reduce the influence of illumination brightness.
The X-axis and Y-axis coordinates of the map are based on the laser radar coordinates, the A-axis and B-axis coordinates of the depth camera are corrected, and C-axis data corresponding to the A-axis and B-axis coordinates of the depth camera are fitted into the laser radar coordinates to obtain mapping coordinates (X1, Y1 and C2).
The navigation equipment enters an unfamiliar environment for the first time, the place characters and the two-dimensional codes in the environment are identified through the depth camera, the place name is obtained, and intelligent identification is conducted on the place.
Specifically, the depth camera intelligently identifies places by recognizing characters so as to judge the names of the positions where the depth camera is located, and marks the positions on a map, so that the intelligent recognition of the three-dimensional map is completed.
Or the depth camera intelligently identifies places through the identification of the two-dimensional codes so as to judge the names of the positions where the depth camera is located, and marks the positions on the map, so that the intelligent identification of the three-dimensional map is completed.
According to the invention, a laser radar is adopted for positioning and mapping, accurate coordinates are established, an object is imaged through a depth camera to assist mapping, and a two-dimensional map is synthesized into a three-dimensional map, so that blind spots are avoided, and the illumination brightness influence is reduced. The depth camera identifies characters and two-dimensional codes, intelligently identifies places, and achieves real self-positioning, self-identification and self-navigation.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (2)
1. A three-dimensional mapping intelligent location identification method is characterized in that a two-dimensional coordinate of a plane is scanned and collected through a laser radar to carry out positioning mapping, and a two-dimensional map is formed;
acquiring a three-dimensional coordinate through a depth camera to form a three-dimensional image, and fitting the three-dimensional image to a two-dimensional map created by a laser radar to form a three-dimensional map;
the navigation equipment enters an unfamiliar environment for the first time, the site characters and/or two-dimensional codes in the environment are identified through the depth camera to obtain the site name, the identified site name is marked in the three-dimensional map, and the three-dimensional map intelligent identification is completed.
2. The method for intelligently identifying the three-dimensional mapping according to claim 1, wherein the step of fitting the three-dimensional image to the two-dimensional map created by the laser radar is to use the coordinate of the laser radar as a reference for the coordinate of the X-axis and the Y-axis of the map, correct the coordinate of the a-axis and the B-axis of the depth camera to obtain a new coordinate of the X-axis and the Y-axis, and then fit the data of the C-axis corresponding to the coordinate of the a-axis and the B-axis of the depth camera to the coordinate of the laser radar to obtain the mapping coordinate, thereby forming the three-dimensional map.
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| CN201911327677.5A CN111105497A (en) | 2019-12-20 | 2019-12-20 | Three-dimensional mapping intelligent location identification method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI770919B (en) * | 2021-03-31 | 2022-07-11 | 串雲科技有限公司 | System for recognizing the location of an object and method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI770919B (en) * | 2021-03-31 | 2022-07-11 | 串雲科技有限公司 | System for recognizing the location of an object and method thereof |
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Application publication date: 20200505 |
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