CN113140043A - Three-dimensional multilayer environment model construction method based on interval estimation - Google Patents
Three-dimensional multilayer environment model construction method based on interval estimation Download PDFInfo
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- CN113140043A CN113140043A CN202110494192.6A CN202110494192A CN113140043A CN 113140043 A CN113140043 A CN 113140043A CN 202110494192 A CN202110494192 A CN 202110494192A CN 113140043 A CN113140043 A CN 113140043A
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- 238000010276 construction Methods 0.000 title claims abstract description 11
- 230000008447 perception Effects 0.000 claims abstract description 16
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- 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
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
Abstract
The invention discloses a three-dimensional multilayer environment model construction method based on interval estimation, which comprises the following steps: respectively acquiring environment perception data and pose estimation, and importing the environment perception data and the pose estimation data into an existing three-dimensional environment modeling system; initializing an environment model according to a set resolution; the model divides the ground into grids; waiting for new perception data to be obtained; when new perception data are obtained, the coordinates are transformed to obtain the coordinate position corresponding to the laser starting point and the middle point; the interval estimation obtains the bounded interval estimation of the laser end point position; associating grids and creating corresponding empty voxels; creating corresponding entity elements according to the interval association grids; applying constraints to the inserted new voxel to obtain a three-dimensional environment modeling model; while the new volume is sent as new perceptual data. The environment model representation method has the advantages of low space complexity, real-time updating, capability of judging the occupation state of any space position and the like.
Description
Technical Field
The invention relates to the technical field of environment models, in particular to a three-dimensional multilayer environment model construction method based on interval estimation.
Background
For a large amount of data acquired by each sensor, necessary observation information is extracted by a project according to a displacement criterion, a characteristic criterion and a measuring range criterion, and the acquired data is filtered firstly to ensure the high efficiency of system operation. However, when agricultural machinery senses the environment, the accuracy of environment modeling is poor due to the influence of environmental data errors, and the errors mainly come from the uncertainty of the sensor, the positioning error of the platform and the orientation positioning error of the sensor.
Therefore, it is necessary to provide a three-dimensional multi-layer environment model construction method based on interval estimation to enhance the reliability of environment model description.
Disclosure of Invention
In order to solve the above problems, an object of the present invention is to provide a three-dimensional multi-layer environment model construction method based on interval estimation, so as to enhance the reliability of environment model description.
In order to achieve the purpose, the invention adopts the following technical scheme: 1. a three-dimensional multilayer environment model construction method based on interval estimation comprises the following steps:
s1, respectively acquiring environment perception data and pose estimation, and importing the environment perception data and the pose estimation data into an existing three-dimensional environment modeling system;
s2, initializing an environment model according to the set resolution; the model divides the ground into grids;
s3, waiting for obtaining new perception data;
s4, when new sensing data are obtained, converting the coordinates to obtain coordinate positions corresponding to the laser starting points and the middle points; the interval estimation obtains the bounded interval estimation of the laser end point position;
s5, associating grids and creating corresponding empty voxels; creating corresponding entity elements according to the interval association grids;
s6, applying constraint to the inserted new voxel to obtain a three-dimensional environment modeling model; while the new volume is sent as new perceptual data.
The environment perception data comprises various point features and line features in the environment, 3D points and lines are obtained by antipodal geometric triangulation, and generation and updating of surface features are completed by combining texture regions
In the above S2, a plurality of rectangular voxels are stored on each grid to represent the environment occupying state, thereby achieving an effective division of the three-dimensional space.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that: the environment model representation method has the advantages of low space complexity, real-time updating, capability of judging the occupation state of any space position and the like.
Drawings
FIG. 1 is a schematic flow chart of a three-dimensional multi-layer environment model construction method for interval estimation according to the present invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, the present invention is a method for constructing a three-dimensional multi-layer environment model based on interval estimation, comprising the steps of:
s1, respectively acquiring environment perception data and pose estimation, and importing the environment perception data and the pose estimation data into an existing three-dimensional environment modeling system;
the environment perception data comprise various point features and line features in the environment, 3D points and lines are obtained by antipodal geometric triangulation, and generation and updating of surface features are completed by combining texture areas;
s2, initializing an environment model according to the set resolution; the model divides the ground into grids;
a plurality of cuboid voxels are stored on each grid to represent the environment occupation state, so that the effective division of the three-dimensional space is realized;
s3, waiting for obtaining new perception data;
s4, when new sensing data are obtained, converting the coordinates to obtain coordinate positions corresponding to the laser starting points and the middle points; the interval estimation obtains the bounded interval estimation of the laser end point position;
s5, associating grids and creating corresponding empty voxels; creating corresponding entity elements according to the interval association grids;
the voxel model can be described by interval data, so that the position information of the terrain data can be described; meanwhile, the voxel model can describe three space occupation states of obstacle, traversable and unknown through a probabilistic means, so that the environment model constructed by the method can be applied to an autonomous navigation system under a probabilistic framework;
s6, applying constraint to the inserted new voxel to obtain a three-dimensional environment modeling model; while the new volume is sent as new perceptual data.
The environment model representation method has the advantages of low space complexity, real-time updating, capability of judging the occupation state of any space position and the like, and can provide reliable data guarantee for tasks such as agricultural machinery path planning and the like, so that the stability of the whole agricultural machinery autonomous navigation system is improved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. A three-dimensional multilayer environment model construction method based on interval estimation is characterized by comprising the following steps:
s1, respectively acquiring environment perception data and pose estimation, and importing the environment perception data and the pose estimation data into an existing three-dimensional environment modeling system;
s2, initializing an environment model according to the set resolution; the model divides the ground into grids;
s3, waiting for obtaining new perception data;
s4, when new sensing data are obtained, converting the coordinates to obtain coordinate positions corresponding to the laser starting points and the middle points; the interval estimation obtains the bounded interval estimation of the laser end point position;
s5, associating grids and creating corresponding empty voxels; creating corresponding entity elements according to the interval association grids;
s6, applying constraint to the inserted new voxel to obtain a three-dimensional environment modeling model; while the new volume is sent as new perceptual data.
2. The interval estimation-based three-dimensional multilayer environment model construction method according to claim 1, wherein the environment perception data comprises various point features and line features in the environment, 3D points and lines are obtained by antipodal geometric triangulation, and generation and updating of surface features are completed by combining texture regions.
3. The interval estimation-based three-dimensional multi-layered environment model construction method according to claim 1, wherein in S2, rectangular parallelepiped voxels are stored on each grid to represent the environment occupying state, thereby achieving an effective division of the three-dimensional space.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116498892A (en) * | 2023-06-30 | 2023-07-28 | 中建安装集团有限公司 | Mist-discharging and frosting-preventing method for LNG air-temperature type gasifier |
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| CN104899918A (en) * | 2015-05-14 | 2015-09-09 | 深圳大学 | Three-dimensional environment modeling method and system for unmanned plane |
| CN106338736A (en) * | 2016-08-31 | 2017-01-18 | 东南大学 | Full-3D occupation volume element landform modeling method based on laser radar |
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Patent Citations (2)
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|---|---|---|---|---|
| CN104899918A (en) * | 2015-05-14 | 2015-09-09 | 深圳大学 | Three-dimensional environment modeling method and system for unmanned plane |
| CN106338736A (en) * | 2016-08-31 | 2017-01-18 | 东南大学 | Full-3D occupation volume element landform modeling method based on laser radar |
Non-Patent Citations (1)
| Title |
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| 韩明瑞: "基于激光LIDAR的室外移动机器人三维定位与建图", 《中国优秀硕士学位论文全文数据库信息科技辑》, no. 3, pages 61 - 75 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116498892A (en) * | 2023-06-30 | 2023-07-28 | 中建安装集团有限公司 | Mist-discharging and frosting-preventing method for LNG air-temperature type gasifier |
| CN116498892B (en) * | 2023-06-30 | 2023-08-29 | 中建安装集团有限公司 | Mist-discharging and frosting-preventing method for LNG air-temperature type gasifier |
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