CN113269874A - Method and device for establishing three-dimensional map - Google Patents
Method and device for establishing three-dimensional map Download PDFInfo
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- CN113269874A CN113269874A CN202110424164.7A CN202110424164A CN113269874A CN 113269874 A CN113269874 A CN 113269874A CN 202110424164 A CN202110424164 A CN 202110424164A CN 113269874 A CN113269874 A CN 113269874A
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Abstract
The invention discloses a method and a device for establishing a three-dimensional map, wherein the method comprises the following steps: determining sensing data corresponding to a target space; determining an initial three-dimensional map according to the sensing data by using a three-dimensional engine; processing the initial three-dimensional map to determine a target three-dimensional map corresponding to the target space; according to the method and the device for establishing the three-dimensional map, the three-dimensional map aiming at the target space is determined, so that the shape structure of the target space and the three-dimensional relation of objects in the target space are reflected; the intelligent device can achieve richer functions by utilizing the three-dimensional map, and the function requirements of the intelligent device are met.
Description
Technical Field
The invention relates to the technical field of three-dimensional maps, in particular to a method and a device for establishing a three-dimensional map.
Background
In the field of robots at present, many functional implementations require virtual map functions that rely on the robot. Namely, the robot senses the physical environment through the sensor and establishes the virtual map based on the spatial structure of the physical environment. Navigation, route planning and other functions can be completed based on the virtual map.
In the prior art, sensing of a physical environment is usually achieved through sensors such as a laser radar and an infrared camera, a corresponding point cloud picture is obtained, and construction of a virtual map is achieved according to the point cloud picture. However, the virtual map created in the above manner is a planar map, and generally does not contain the three-dimensional relationship of objects in space, and semantic information of the objects.
Disclosure of Invention
The invention provides a method and a device for establishing a three-dimensional map, which are used for at least solving the technical problems in the prior art.
In a first aspect, the present invention provides a method for building a three-dimensional map, including:
determining sensing data corresponding to a target space;
determining an initial three-dimensional map according to the sensing data by using a three-dimensional engine;
and processing the initial three-dimensional map to determine a target three-dimensional map corresponding to the target space.
Preferably, the determining the sensing data corresponding to the target space includes:
acquiring the sensing data by using a sensor carried by intelligent equipment;
the sensing data comprises a point cloud image, an infrared image, depth data and an RGB image.
Preferably, the determining, by the three-dimensional engine, the initial three-dimensional map according to the sensing data includes:
and calculating the sensing data by utilizing a map generation algorithm in the three-dimensional engine to determine the initial three-dimensional map.
Preferably, the processing the initial three-dimensional map to determine a target three-dimensional map corresponding to the target space includes:
and processing the initial three-dimensional map according to the spatial characteristics of the target space by using a preset image processing model so as to determine a target three-dimensional map corresponding to the target space.
Preferably, the method further comprises the following steps:
determining an action strategy of the intelligent equipment by utilizing the three-dimensional map; and causing the smart device to execute the action policy.
Preferably, the method further comprises the following steps:
and determining a plane semantic map corresponding to the target space by using the sensing data.
Preferably, the determining the action strategy of the intelligent device by using the three-dimensional map comprises:
and determining the action strategy by utilizing the three-dimensional map and the plane semantic map.
In a second aspect, the present invention provides an apparatus for creating a three-dimensional map, including:
the sensing data determining module is used for determining sensing data corresponding to the target space;
the initial map determining module is used for determining an initial three-dimensional map according to the sensing data by using a three-dimensional engine;
and the target map determining module is used for processing the initial three-dimensional map so as to determine a target three-dimensional map corresponding to the target space.
In a third aspect, the present invention provides a computer-readable storage medium storing a computer program for executing the method for creating a three-dimensional map according to the present invention.
In a fourth aspect, the present invention provides an electronic device comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instruction from the memory and executing the instruction to realize the three-dimensional map building method.
Compared with the prior art, the method and the device for establishing the three-dimensional map provided by the invention have the advantages that the three-dimensional map aiming at the target space is determined, so that the shape structure of the target space and the three-dimensional relation of objects in the target space are reflected; the intelligent device can achieve richer functions by utilizing the three-dimensional map, and the function requirements of the intelligent device are met.
Drawings
Fig. 1 is a schematic flow chart of a method for building a three-dimensional map according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of another method for building a three-dimensional map according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an apparatus for creating a three-dimensional map according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent 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.
Summary of the application
In the prior art, a robot generally senses a physical environment through sensors such as a laser radar and an infrared camera to obtain a corresponding point cloud picture, and constructs a virtual map according to the point cloud picture. However, the virtual map created in the above manner is a planar map, and generally does not contain the three-dimensional relationship of objects in space, and semantic information of the objects.
In terms of function implementation, the plane map has many limitations. For example, when the three-dimensional relationship and semantic information of an object cannot be grasped, the basic route guidance function can be realized only on the basis of a plane map, and the robot cannot be further controlled to perform a specific operation on a specific object. For example, complex operations such as grasping an object and moving an object are difficult to implement.
Therefore, the function realization based on the plane map is still simpler and single. It is difficult to meet the more diversified functional requirements of the robot in many scenarios.
Exemplary method
Therefore, embodiments of the present invention will provide a method for building a three-dimensional map, so as to solve at least the above technical problems in the prior art. As shown in fig. 1, the method in this embodiment includes the following steps:
In some cases, the execution subject of the method may be a smart device; the intelligent device mainly can be a robot or other electronic devices with self-walking functions. In other cases, the execution subject of the method may also be a cloud or a server in communication connection with the smart device. In general, in a case where the local computing power of the device is limited, the cloud or the server is used as an execution subject.
The physical space in which the smart device is located may be the target space. In this embodiment, the object is to establish a three-dimensional map corresponding to a target space. The sensing data is data which is detected in a target space and can represent information such as a shape structure and a three-dimensional relationship of an article in the target space. The sensing data is collected by a sensor carried by the intelligent equipment. If the subsequent operation process is carried out on the intelligent device at the cloud end or the server, the sensing data acquired by the intelligent device are required to be uploaded to the cloud end or the server.
In this embodiment, the sensor may include an infrared camera, a depth camera, an RGB camera, a laser radar, an inertial sensor, and the like. The corresponding sensing data may include a point cloud image, an infrared image, depth data, an RGB image, inertial sensing data, and the like.
And 102, determining an initial three-dimensional map according to the sensing data by using a three-dimensional engine.
After the sensing data are determined, a three-dimensional map corresponding to the target space can be established according to the sensing data, so that physical space characteristics in the target space and semantic information and spatial relations of various articles can be restored through the three-dimensional map.
In this embodiment, the three-dimensional engine is used to complete the preliminary construction of the three-dimensional map. The three-dimensional engine is a common three-dimensional model development tool in the field. Common three-dimensional engines such as Unreal and Unity can be applied to the present embodiment. Specifically, the sensing data may be operated by a map generation algorithm in the three-dimensional engine to determine the initial three-dimensional map. Namely, the processing of the sensing data is completed by utilizing the specific function of the three-dimensional engine, and a relatively original three-dimensional map, namely an initial three-dimensional map, is directly obtained. For example, the initial three-dimensional map may be determined by an MMO generation algorithm in a three-dimensional engine.
And 103, processing the initial three-dimensional map to determine a target three-dimensional map corresponding to the target space.
Typically, since the initial three-dimensional map is obtained directly by the three-dimensional engine, there may be some error with respect to the target space. Therefore, the initial three-dimensional map needs to be further adjusted and processed in combination with the actual situation of the target space, so as to correct errors and obtain a more accurate target three-dimensional map. In the target three-dimensional map, the shape and the structure of a target space can be reflected, and the three-dimensional relationship of an object in the target space can be reflected; in some cases, semantic information of the object may also be reflected.
The adjustment and the processing can be performed according to the spatial characteristics of the target space by using a preset image processing model, so as to automatically determine the target three-dimensional map corresponding to the target space. The specific processing such as combination, optimization, simplification and the like can also be carried out through a specific processing algorithm. Or may also be processed manually. This embodiment is not limited to this, and any processing method that can achieve the same or similar effect may be combined with the overall technical solution of this embodiment.
According to the technical scheme, the beneficial effects of the embodiment are as follows: determining a three-dimensional map for the target space so as to reflect the shape structure of the target space and the three-dimensional relationship of objects in the target space; the intelligent device can achieve richer functions by utilizing the three-dimensional map, and the function requirements of the intelligent device are met.
Fig. 1 shows only a basic embodiment of the method of the present invention, and based on this, certain optimization and expansion can be performed, and other preferred embodiments of the method can also be obtained.
Fig. 2 shows another embodiment of the method for building a three-dimensional map according to the present invention. The present embodiment is further developed on the basis of the foregoing embodiments. The method specifically comprises the following steps:
And step 203, processing the initial three-dimensional map to determine a target three-dimensional map corresponding to the target space.
The contents of the above steps 201 to 203 are the same as those of the above embodiments, and the description thereof will not be repeated.
And step 204, determining a plane semantic map corresponding to the target space by using the sensing data.
In this embodiment, in addition to determining the target three-dimensional map, a further planar semantic map of the target space is determined. The planar semantic map can be determined according to the point cloud images in the sensing data, and the process is similar to the process of determining the planar map in the prior art. However, the difference is that in this embodiment, semantic analysis on the point cloud map is additionally introduced, so that semantic information of the object in the target space is fused into the planar map, and the planar semantic map is obtained.
In this embodiment, the shape and structure of the target space, the three-dimensional relationship of the object in the target space, and the semantic information may be determined by combining the three-dimensional map and the planar semantic map. Thereby, more diversified functions can be realized. I.e. determine an action policy and cause the smart device to execute the action policy, thereby performing certain functions.
For example, in this embodiment, the smart device may specifically be a robot. The determined action strategy may be to control the robot to grab a specific object a within the target space. Using semantic information of the object in the target space, the navigation position of object a may be determined first. Most of conventional navigation algorithms are based on plane map design, so that the semantic plane map can be used for navigation, and the robot is controlled to move to the navigation position of the object A according to the navigation route. In other cases, of course, navigation may be accomplished based on three-dimensional map based navigation algorithms as well. After reaching the navigation position where object a is located, the spatial position of object a may be determined. The spatial position is different from the navigational position, which is simply the planar position of the object. The spatial position will also include more abundant information such as the height, depth, distance from the robot, and shape and spatial characteristics of the object. The spatial position needs to be determined according to a three-dimensional map, and specifically can be determined according to the three-dimensional relationship of objects in the three-dimensional map. Based on the spatial position of the object A, the robot can be controlled to realize grabbing operation on the object A.
Therefore, based on the three-dimensional map and the plane semantic map, more abundant and various functions are realized.
Exemplary devices
Fig. 3 shows an embodiment of the apparatus for creating a three-dimensional map according to the present invention. The apparatus of this embodiment is a physical apparatus for performing the method described in FIGS. 1-2. The technical solution is essentially the same as that in the above embodiment, and the corresponding description in the above embodiment is also applicable to this embodiment. The device in the embodiment comprises:
and the sensing data determining module 301 is configured to determine sensing data corresponding to the target space.
An initial map determination module 302 configured to determine an initial three-dimensional map from the sensing data using a three-dimensional engine.
And the target map determining module 303 is configured to process the initial three-dimensional map to determine a target three-dimensional map corresponding to the target space.
In addition, on the basis of the embodiment shown in fig. 3, it is preferable that:
the sensing data determination module 301 includes:
the acquisition unit 311 is configured to acquire sensing data by using a sensor mounted on the smart device; the sensing data includes point cloud images, infrared images, depth data, and RGB images.
A communication unit for uploading the sensing data to the server
The initial map determination module 302 includes:
three-dimensional engine unit 321 for determining a three-dimensional engine, and map generation algorithm in the three-dimensional engine
An initial map determining unit 322, configured to perform an operation on the sensing data by using a map generation algorithm in the three-dimensional engine to determine an initial three-dimensional map.
The target map determination module 303 includes:
the first processing unit 331 is configured to process the initial three-dimensional map according to the spatial features of the target space by using a preset image processing model, so as to determine a target three-dimensional map corresponding to the target space.
And the second processing unit 332 is configured to provide a manual processing interface to accept manual operation to determine a target three-dimensional map corresponding to the target space.
Further comprising:
an execution module 304, configured to determine an action policy of the smart device by using the three-dimensional map; and cause the smart device to execute the action policy.
Further comprising:
and the plane map determining module 305 is configured to determine a plane semantic map corresponding to the target space by using the sensing data.
Exemplary computer program product and computer-readable storage Medium
In addition to the above-described methods and apparatus, embodiments of the invention may also be a computer program product comprising computer program instructions which, when executed by a processor, cause the processor to perform the steps in the methods according to various embodiments of the invention described in the "exemplary methods" section above of this specification.
The computer program product may write program code for carrying out operations for embodiments of the present invention in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present invention may also be a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, cause the processor to perform steps in methods according to various embodiments of the present invention described in the "exemplary methods" section above of this specification.
The computer-readable storage medium may take any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The basic principles of the present invention have been described above with reference to specific embodiments, but it should be noted that the advantages, effects, etc. mentioned in the present invention are only examples and are not limiting, and the advantages, effects, etc. must not be considered to be possessed by various embodiments of the present invention. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the invention is not limited to the specific details described above.
The block diagrams of devices, apparatuses, systems involved in the present invention are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the word" and/or, "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".
It should also be noted that in the apparatus, devices and methods of the present invention, the components or steps may be broken down and/or re-combined. These decompositions and/or recombinations are to be regarded as equivalents of the present invention.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the invention to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof.
Claims (10)
1. A method for building a three-dimensional map is characterized by comprising the following steps:
determining sensing data corresponding to a target space;
determining an initial three-dimensional map according to the sensing data by using a three-dimensional engine;
and processing the initial three-dimensional map to determine a target three-dimensional map corresponding to the target space.
2. The method of claim 1, wherein the determining the sensing data corresponding to the target space comprises:
acquiring the sensing data by using a sensor carried by intelligent equipment;
the sensing data comprises a point cloud image, an infrared image, depth data and an RGB image.
3. The method of claim 1, wherein determining, with the three-dimensional engine, an initial three-dimensional map from the sensory data comprises:
and calculating the sensing data by utilizing a map generation algorithm in the three-dimensional engine to determine the initial three-dimensional map.
4. The method of claim 1, wherein the processing the initial three-dimensional map to determine a target three-dimensional map corresponding to the target space comprises:
and processing the initial three-dimensional map according to the spatial characteristics of the target space by using a preset image processing model so as to determine a target three-dimensional map corresponding to the target space.
5. The method according to any one of claims 1 to 4, further comprising:
determining an action strategy of the intelligent equipment by utilizing the three-dimensional map; and causing the smart device to execute the action policy.
6. The method of claim 5, further comprising:
and determining a plane semantic map corresponding to the target space by using the sensing data.
7. The method of claim 6, wherein determining the action strategy of the smart device using the three-dimensional map comprises:
and determining the action strategy by utilizing the three-dimensional map and the plane semantic map.
8. An apparatus for creating a three-dimensional map, comprising:
the sensing data determining module is used for determining sensing data corresponding to the target space;
the initial map determining module is used for determining an initial three-dimensional map according to the sensing data by using a three-dimensional engine;
and the target map determining module is used for processing the initial three-dimensional map so as to determine a target three-dimensional map corresponding to the target space.
9. A computer-readable storage medium storing a computer program for executing the three-dimensional map building method according to any one of claims 1 to 7.
10. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is used for reading the executable instructions from the memory and executing the instructions to realize the three-dimensional map building method of any one of the claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110424164.7A CN113269874A (en) | 2021-04-20 | 2021-04-20 | Method and device for establishing three-dimensional map |
| PCT/CN2021/141492 WO2022222532A1 (en) | 2021-04-20 | 2021-12-27 | Method and apparatus for establishing three-dimensional map, and electronic device and computer-readable storage medium |
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| CN202110424164.7A CN113269874A (en) | 2021-04-20 | 2021-04-20 | Method and device for establishing three-dimensional map |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022222532A1 (en) * | 2021-04-20 | 2022-10-27 | 达闼机器人股份有限公司 | Method and apparatus for establishing three-dimensional map, and electronic device and computer-readable storage medium |
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| CN106067191A (en) * | 2016-05-25 | 2016-11-02 | 深圳市寒武纪智能科技有限公司 | The method and system of semantic map set up by a kind of domestic robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111694903B (en) * | 2019-03-11 | 2023-09-12 | 北京地平线机器人技术研发有限公司 | Map construction method, device, equipment and readable storage medium |
| CN113269874A (en) * | 2021-04-20 | 2021-08-17 | 达闼机器人有限公司 | Method and device for establishing three-dimensional map |
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- 2021-04-20 CN CN202110424164.7A patent/CN113269874A/en active Pending
- 2021-12-27 WO PCT/CN2021/141492 patent/WO2022222532A1/en active Application Filing
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| CN106067191A (en) * | 2016-05-25 | 2016-11-02 | 深圳市寒武纪智能科技有限公司 | The method and system of semantic map set up by a kind of domestic robot |
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| WO2022222532A1 (en) * | 2021-04-20 | 2022-10-27 | 达闼机器人股份有限公司 | Method and apparatus for establishing three-dimensional map, and electronic device and computer-readable storage medium |
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