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GB2609849B - Map generation method and device, storage medium and processor - Google Patents

Map generation method and device, storage medium and processor Download PDF

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Publication number
GB2609849B
GB2609849B GB2216637.5A GB202216637A GB2609849B GB 2609849 B GB2609849 B GB 2609849B GB 202216637 A GB202216637 A GB 202216637A GB 2609849 B GB2609849 B GB 2609849B
Authority
GB
United Kingdom
Prior art keywords
processor
storage medium
generation method
map generation
map
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
GB2216637.5A
Other versions
GB2609849A (en
GB202216637D0 (en
Inventor
Zeng Xiang
Li Xiang
Liu Mianli
Yuan Qing
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Bozhilin Robot Co Ltd
Original Assignee
Guangdong Bozhilin Robot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Bozhilin Robot Co Ltd filed Critical Guangdong Bozhilin Robot Co Ltd
Publication of GB202216637D0 publication Critical patent/GB202216637D0/en
Publication of GB2609849A publication Critical patent/GB2609849A/en
Application granted granted Critical
Publication of GB2609849B publication Critical patent/GB2609849B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three dimensional [3D] modelling, e.g. data description of 3D objects
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05Geographic models
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00Arrangements for image or video recognition or understanding
    • G06V10/40Extraction of image or video features
    • G06V10/44Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00Arrangements for image or video recognition or understanding
    • G06V10/40Extraction of image or video features
    • G06V10/50Extraction of image or video features by performing operations within image blocks; by using histograms, e.g. histogram of oriented gradients [HoG]; by summing image-intensity values; Projection analysis
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/10Terrestrial scenes
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06Systems determining position data of a target
    • G01S17/42Simultaneous measurement of distance and other co-ordinates
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/89Lidar systems specially adapted for specific applications for mapping or imaging
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88Lidar systems specially adapted for specific applications
    • G01S17/93Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808Evaluating distance, position or velocity data
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00Indexing scheme for image generation or computer graphics
    • G06T2210/04Architectural design, interior design

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • Multimedia (AREA)
  • Computer Graphics (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Processing Or Creating Images (AREA)
  • Instructional Devices (AREA)
  • Image Processing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
GB2216637.5A 2020-04-21 2020-12-11 Map generation method and device, storage medium and processor Active GB2609849B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202010318680.7A CN113538671B (en) 2020-04-21 2020-04-21 Map generation method, map generation device, storage medium and processor
PCT/CN2020/135878 WO2021212875A1 (en) 2020-04-21 2020-12-11 Map generation method and device, storage medium and processor

Publications (3)

Publication Number Publication Date
GB202216637D0 GB202216637D0 (en) 2022-12-21
GB2609849A GB2609849A (en) 2023-02-15
GB2609849B true GB2609849B (en) 2025-05-28

Family

ID=78093978

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2216637.5A Active GB2609849B (en) 2020-04-21 2020-12-11 Map generation method and device, storage medium and processor

Country Status (5)

Country Link
JP (1) JP2023522262A (en)
CN (1) CN113538671B (en)
AU (1) AU2020444025A1 (en)
GB (1) GB2609849B (en)
WO (1) WO2021212875A1 (en)

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* Cited by examiner, † Cited by third party
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CN113776520B (en) * 2021-09-28 2024-05-17 上海擎朗智能科技有限公司 Map construction, using method, device, robot and medium
CN116069006A (en) * 2021-11-01 2023-05-05 速感科技(北京)有限公司 Map optimization method, map optimization device, electronic equipment and storage medium
CN114036616B (en) * 2021-11-17 2024-06-21 北京蜂鸟视图科技有限公司 System and method for generating closed surface based on CAD (computer aided design) electronic drawing when constructing map
CN114419190A (en) * 2022-01-11 2022-04-29 长沙慧联智能科技有限公司 Method and device for generating visual guideline of grid map
CN116518987A (en) * 2022-01-24 2023-08-01 追觅创新科技(苏州)有限公司 Map processing method, system and self-mobile device
CN114663611A (en) * 2022-03-22 2022-06-24 中国电信股份有限公司 Obstacle detection method, apparatus, device and storage medium
CN114818051B (en) * 2022-03-24 2025-04-29 香港大学深圳研究院 Indoor 3D barrier-free map generation method based on LiDAR point cloud and BIM collision simulation
CN115381354B (en) * 2022-07-28 2025-03-18 广州萨普拉智能科技有限公司 Obstacle avoidance method, obstacle avoidance device, storage medium and equipment for cleaning robot
CN115033972B (en) * 2022-08-09 2022-11-08 武汉易米景科技有限公司 Method and system for unitizing building main body structures in batches and readable storage medium
CN115331091A (en) * 2022-08-09 2022-11-11 广州科语机器人有限公司 Map data processing method, computer device, and storage medium
CN115423933B (en) * 2022-08-12 2023-09-29 北京城市网邻信息技术有限公司 House type diagram generation method and device, electronic equipment and storage medium
CN115542897B (en) * 2022-09-19 2025-05-27 之江实验室 A full coverage path planning method based on ox-plowing motion
CN115308771B (en) * 2022-10-12 2023-03-14 深圳市速腾聚创科技有限公司 Obstacle detection method and apparatus, medium, and electronic device
CN116798182A (en) * 2022-12-23 2023-09-22 慧之安信息技术股份有限公司 Child activity monitoring method and system based on dynamic vision
CN116499453A (en) * 2023-04-21 2023-07-28 杭州萤石软件有限公司 Electronic map generation method and device, mobile robot and storage medium
CN116538953B (en) * 2023-05-08 2024-01-30 武汉纵横天地空间信息技术有限公司 Intelligent detection method and system for elevation targets and readable storage medium
KR102806389B1 (en) * 2023-05-26 2025-05-15 주식회사 딥파인 3d map providing method and system for navigation service
KR20250001483A (en) * 2023-06-27 2025-01-07 삼성전자주식회사 An electronic device for generating a map and method for controlling the same
CN117152672B (en) * 2023-09-06 2024-08-06 理工雷科智途(北京)科技有限公司 Cabin driving area dividing method and system based on point cloud polygon fitting

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CN106199558A (en) * 2016-08-18 2016-12-07 宁波傲视智绘光电科技有限公司 Barrier method for quick
CN106997049A (en) * 2017-03-14 2017-08-01 奇瑞汽车股份有限公司 A kind of method and apparatus of the detection barrier based on laser point cloud data
CN108984741A (en) * 2018-07-16 2018-12-11 北京三快在线科技有限公司 A kind of ground drawing generating method and device, robot and computer readable storage medium
US20190287254A1 (en) * 2018-03-16 2019-09-19 Honda Motor Co., Ltd. Lidar noise removal using image pixel clusterings
CN110274602A (en) * 2018-03-15 2019-09-24 奥孛睿斯有限责任公司 Indoor map method for auto constructing and system
CN110400363A (en) * 2018-04-24 2019-11-01 北京京东尚科信息技术有限公司 Map constructing method and device based on laser point cloud

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JP4645601B2 (en) * 2007-02-13 2011-03-09 トヨタ自動車株式会社 Environmental map generation method and mobile robot
JP2009136987A (en) * 2007-12-10 2009-06-25 Toyota Motor Corp Mobile robot and floor surface shape data correction method
JP4999734B2 (en) * 2008-03-07 2012-08-15 株式会社日立製作所 ENVIRONMENTAL MAP GENERATION DEVICE, METHOD, AND PROGRAM
JP5546998B2 (en) * 2010-08-19 2014-07-09 Kddi株式会社 3D map creation method and apparatus
JP2014056506A (en) * 2012-09-13 2014-03-27 Toyota Central R&D Labs Inc Obstacle detection device, and moving body with the same
JP6950208B2 (en) * 2017-03-13 2021-10-13 富士通株式会社 Information processing programs, information processing methods, and information processing equipment
CN110286387B (en) * 2019-06-25 2021-09-24 深兰科技(上海)有限公司 Obstacle detection method and device applied to automatic driving system and storage medium

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106199558A (en) * 2016-08-18 2016-12-07 宁波傲视智绘光电科技有限公司 Barrier method for quick
CN106997049A (en) * 2017-03-14 2017-08-01 奇瑞汽车股份有限公司 A kind of method and apparatus of the detection barrier based on laser point cloud data
CN110274602A (en) * 2018-03-15 2019-09-24 奥孛睿斯有限责任公司 Indoor map method for auto constructing and system
US20190287254A1 (en) * 2018-03-16 2019-09-19 Honda Motor Co., Ltd. Lidar noise removal using image pixel clusterings
CN110400363A (en) * 2018-04-24 2019-11-01 北京京东尚科信息技术有限公司 Map constructing method and device based on laser point cloud
CN108984741A (en) * 2018-07-16 2018-12-11 北京三快在线科技有限公司 A kind of ground drawing generating method and device, robot and computer readable storage medium

Also Published As

Publication number Publication date
GB2609849A (en) 2023-02-15
WO2021212875A1 (en) 2021-10-28
AU2020444025A1 (en) 2022-12-15
JP2023522262A (en) 2023-05-29
CN113538671B (en) 2024-02-13
GB202216637D0 (en) 2022-12-21
CN113538671A (en) 2021-10-22

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