TERRAIN MODELING METHOD AND SYSTEM AMALGAMATING GEOMETRIC CHARACTERISTICS AND MECHANICAL CHARACTERISTICS

WIPO Patent Application WO/2020/253171

A1

A terrain modeling method and a system amalgamating geometric characteristics and mechanical characteristics, which relates to the technical field of environment modeling, the method comprising: acquiring a color image and a depth image of an exploration area, performing terrain sematic segmentation on the color image, amalgamating the sematic segmentation result and depth information contained in the depth image at that moment, and obtaining a sematic point cloud; mapping the sematic point cloud to a grid map in a map coordinate system, generating a corresponding grid, and updating an elevation value and sematic information in the sematic point cloud to the corresponding grid; and according to the sematic information, calculating ground mechanical characteristics, updating the calculation result to the corresponding grid and generating a terrain model. The method adds mechanical characteristics parameters into a terrain factor and characterizes the terrain from two dimensions: geometric characteristics and mechanical characteristics. A ground pressure characteristic and shearing characteristic of an untouched zone are deduced in advance using a means of visual perception so as to expand the range of perception.

DING LIANG (CN)
DENG ZONGQUAN (CN)
ZHOU RUYI (CN)
GAO HAIBO (CN)
FENG WENHAO (CN)
XU PENG (CN)
LI NAN (CN)
LIU ZHEN (CN)

PCT/CN2019/125875

December 24, 2020

December 17, 2019

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HARBIN INST TECHNOLOGY (CN)

G06T17/05; G06V10/764

CN110264572A	2019-09-20
CN107403459A	2017-11-28
CN107092020A	2017-08-25
CN108257212A	2018-07-06
US20160125226A1	2016-05-05

TALENT PATENT&TRADEMARK FIRM (CN)

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