Title:
３次元シーンマップの生成方法、生成装置、機器および記憶媒体
Document Type and Number:
Japanese Patent JP6866441
Kind Code:
B2
Abstract:
The present disclosure provides a method and a device for generating a 3D scene map, a related apparatus and a storage medium. The method includes the following. At least two frames of point cloud data collected by a collection device is obtained (101). Data registration is performed on the at least two frames of point cloud data. First type of point cloud data corresponding to a movable obstacle is deleted from each frame of point cloud data and each frame of point cloud data is merged to obtain an initial scene map (102). Second type of point cloud data corresponding to a regularly shaped object is replaced with model data of a geometry model matching with the regularly object for the initial scene map to obtain the 3D scene map (103).
Inventors:
Yang, Falon
Chao, Ton Ton
Fan, gin
Wang, Liang
Ma, Yu
Yang, Luigan
Chao, Ton Ton
Fan, gin
Wang, Liang
Ma, Yu
Yang, Luigan
Application Number:
JP2019157031A
Publication Date:
April 28, 2021
Filing Date:
August 29, 2019
Export Citation:
Assignee:
Baidu Online Network Technology (Beijing) Company Limited
International Classes:
G06T7/38; G06T7/00; G06T7/215; G06T7/521; G08G1/00
Foreign References:
| WO2008099915A1 | ||||
| WO2018060313A1 | ||||
| WO2007069721A1 | ||||
| US20180003511 | ||||
| WO2018104563A1 |
Other References:
ANDREA ROMANONI ET AL,"Mesh-based 3D Textured Urban Mapping",2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS),米国,IEEE,2017年 9月24日,pages 3460-3466
Attorney, Agent or Firm:
Kunio Ueda
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi
Junichiro Yanagi
Mayumi Oguri
Kunihiko Takeuchi