Title:
TWO-DIMENSIONAL MAP GENERATION METHOD AND APPARATUS, TERMINAL DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/045271
Kind Code:
A1
Abstract:
Disclosed in the present invention are a two-dimensional map generation method and apparatus, a terminal device, and a storage medium. The method comprises: acquiring a depth image and a color image of a target scene, and determining a mapping relationship between the depth image and the color image; according to the depth image, acquiring a two-dimensional point cloud image corresponding to the depth image, and determining a target map frame corresponding to the two-dimensional point cloud image; and acquiring position tag information in each region in the target map frame, and according to the position tag information and the mapping relationship, binding the position tag information to pose information of a color camera corresponding to the color image in each region to obtain a two-dimensional map. According to the present invention, a two-dimensional map can be quickly constructed, and the constructed two-dimensional map can be reused.
Inventors:
CHEN ZIRONG (CN)
WANG LIN (CN)
WANG LIN (CN)
Application Number:
PCT/CN2022/080520
Publication Date:
March 30, 2023
Filing Date:
March 13, 2022
Export Citation:
Assignee:
ORBBEC INC (CN)
International Classes:
G06T7/73; G06F16/29; G06F16/9537; G06F16/9538; G06T7/90
Domestic Patent References:
| WO2021017314A1 | 2021-02-04 | |||
| WO2021010784A2 | 2021-01-21 |
Foreign References:
| CN114004882A | 2022-02-01 | |||
| CN107741234A | 2018-02-27 | |||
| CN110243375A | 2019-09-17 |
Other References:
CHEN CHAO, LI QIANG; YAN QING: "Mobile Robot Simulataneous Localization and Mapping Based on Heterogeneous Sensor Information Fusion", SCIENCE TECHNOLOGY AND ENGINEERING, ZHONGGUO JISHU JINGJI YANJIUHUI, CN, vol. 18, no. 13, 8 May 2018 (2018-05-08), CN , pages 86 - 91, XP093054349, ISSN: 1671-1815
XIN, GUANXI: "Research on Simultaneous Localization and Mapping Based on RGB-D Camera", CHINA MASTER'S THESES FULL-TEXT DATABASE, INFORMATION TECHNOLOGY, no. 02, 1 July 2016 (2016-07-01), CN, pages 1 - 64, XP009544915
XIN, GUANXI: "Research on Simultaneous Localization and Mapping Based on RGB-D Camera", CHINA MASTER'S THESES FULL-TEXT DATABASE, INFORMATION TECHNOLOGY, no. 02, 1 July 2016 (2016-07-01), CN, pages 1 - 64, XP009544915
Attorney, Agent or Firm:
SHENZHEN HUNS INTELLECTUAL PROPERTY (CN)
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