技术领域Technical Field
本发明涉及数据处理技术领域，特别涉及一种地图重建方法、装置、存储介质及电子设备。The present invention relates to the field of data processing technology, and in particular to a map reconstruction method, device, storage medium and electronic equipment.
背景技术Background technique
随着科学技术的不断发展，扫地机器人的普及率逐渐提高。利用扫地机器人来清除灰尘、异物，扫地机器人的普及使得人们的生活更加便利、舒适。With the continuous development of science and technology, the popularity of sweeping robots has gradually increased. Using sweeping robots to remove dust and foreign objects has made people's lives more convenient and comfortable.
在初次使用扫地机器人之前，通常会进行清扫地图的构建，然而现有清扫地图的构建通常是构建二维地图，无法准确的重建三维地图。Before using a sweeping robot for the first time, a cleaning map is usually constructed. However, the existing cleaning map construction is usually a two-dimensional map, which cannot accurately reconstruct a three-dimensional map.
发明内容Summary of the invention
有鉴于此，本发明提供了一种地图构建方法、装置、介质及设备，主要目的在于解决目前存在无法准确的重建三维地图的问题。In view of this, the present invention provides a map construction method, device, medium and equipment, the main purpose of which is to solve the current problem that three-dimensional maps cannot be accurately reconstructed.
为解决上述问题，本申请提供一种地图构建方法，包括：To solve the above problems, the present application provides a map construction method, comprising:
获取飞行时间传感器在当前视点下所采集的若干当前观测数据；Obtaining some current observation data collected by the time-of-flight sensor at the current viewpoint;
基于各所述当前观测数据，确定各所述当前观测数据在地图坐标系下的当前体素；Based on each of the current observation data, determine a current voxel of each of the current observation data in a map coordinate system;
基于各所述当前体素以及所述当前视点，确定若干当前非障碍物体素；Determine a number of current non-obstruction pixels based on each of the current voxels and the current viewpoint;
在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素，进行当前三维体素地图的构建，获得当前三维体素地图，直至完成各视点下的三维体素地图的构建，获得目标三维体素地图。Based on the historical three-dimensional voxel map reconstructed based on the previous viewpoint, the current three-dimensional voxel map is constructed based on each of the current non-obstacle object pixels to obtain the current three-dimensional voxel map, until the construction of the three-dimensional voxel map under each viewpoint is completed to obtain the target three-dimensional voxel map.
可选的，所述基于各所述当前观测数据，确定各所述当前观测数据在地图坐标系下的当前体素，具体包括：Optionally, determining the current voxel of each current observation data in the map coordinate system based on each current observation data specifically includes:
针对各所述当前观测数据，分别按照体素分辨率降采样处理，获得处理后的观测数据；For each of the current observation data, downsampling is performed according to the voxel resolution to obtain processed observation data;
基于飞行时间传感器的传感器外参以及飞行时间传感器位于地图坐标系中的位置信息，对各所述处理后的观测数据进行转换处理，获得地图坐标系下的目标观测数据；Based on the sensor extrinsic parameters of the time-of-flight sensor and the position information of the time-of-flight sensor in the map coordinate system, converting each of the processed observation data to obtain target observation data in the map coordinate system;
对各所述目标观测数据进行体素化处理，获得体素坐标，以确定与各目标观测数据对应的当前体素。Each of the target observation data is voxelized to obtain voxel coordinates to determine a current voxel corresponding to each of the target observation data.
可选的，在进行当前三维体素地图的构建之前，所述方法还包括：确定各所述当前体素的障碍物类型，具体包括：Optionally, before constructing the current three-dimensional voxel map, the method further includes: determining the obstacle type of each current voxel, specifically including:
基于前一视点的历史观测数据，确定各所述历史观测数据对应的历史法向量；Based on the historical observation data of the previous viewpoint, determine the historical normal vector corresponding to each of the historical observation data;
基于当前视点下的各当前观测数据，确定各当前观测数据对应的当前法向量；Based on each current observation data under the current viewpoint, determine the current normal vector corresponding to each current observation data;
基于各当前观测数据的当前法向量以及前一视点的历史观测数据的历史法向量，确定各当前观测数据对应的当前体素的障碍物类型为边界障碍物或非边界障碍物。Based on the current normal vector of each current observation data and the historical normal vector of the historical observation data of the previous viewpoint, it is determined that the obstacle type of the current voxel corresponding to each current observation data is a boundary obstacle or a non-boundary obstacle.
可选的，所述在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素，进行当前三维体素地图的构建，包括：Optionally, the constructing of the current three-dimensional voxel map based on the historical three-dimensional voxel map reconstructed based on the previous viewpoint and based on each of the current non-obstruction object pixels includes:
在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素以及各所述当前体素的障碍物类型，进行当前三维体素地图的构建。On the basis of the historical three-dimensional voxel map reconstructed based on the previous viewpoint, the current three-dimensional voxel map is constructed based on each of the current non-obstacle pixels and the obstacle type of each of the current voxels.
可选的，所述基于各所述当前体素以及所述当前视点，确定若干当前非障碍物体素，包括：Optionally, the determining a number of current non-obstruction pixels based on each of the current voxels and the current viewpoint includes:
基于各所述当前体素的体素坐标以及所述当前视点的视点坐标，构建与各所述当前体素对应的当前线段；Based on the voxel coordinates of each of the current voxels and the viewpoint coordinates of the current viewpoint, construct a current line segment corresponding to each of the current voxels;
确定各所述当前线段所经过的体素为第一非障碍物体素；Determine that the voxels passed by each current line segment are first non-obstruction pixels;
确定沿着各所述线段延伸方向、未被所述当前视点所观测到的预定个数的体素为第二非障碍物体素。A predetermined number of voxels along the extension direction of each line segment that are not observed by the current viewpoint are determined as second non-obstacle voxels.
基于各所述第一非障碍物体素以及各所述第二非障碍物体素，获得所述若干当前非障碍物体素。The plurality of current non-obstruction pixels are obtained based on each of the first non-obstruction pixels and each of the second non-obstruction pixels.
可选的，在进行当前三维体素地图的构建之前，所述方法还包括：Optionally, before constructing the current three-dimensional voxel map, the method further includes:
基于各当前体素，确定各历史障碍物体素在各当前障碍物体素下的各初始截断符号距离函数TSDF值；所述历史障碍物体素为进行历史三维体素地图重建时所确定的障碍物体素；Based on each current voxel, determining each initial truncated signed distance function TSDF value of each historical obstacle pixel under each current obstacle pixel; the historical obstacle pixel is the obstacle pixel determined when reconstructing the historical three-dimensional voxel map;
针对基于同一历史障碍物体素的各初始TSDF值，确定各历史障碍物体素对应的、用于进行当前三维体素地图重建的目标TSDF值。For each initial TSDF value based on the same historical obstacle pixel, a target TSDF value corresponding to each historical obstacle pixel and used for reconstructing the current three-dimensional voxel map is determined.
可选的，在获得目标三维体素地图之后，所述方法还包括：Optionally, after obtaining the target three-dimensional voxel map, the method further includes:
对所述三维体素地图进行二维转换，获得二维栅格地图；Performing a two-dimensional conversion on the three-dimensional voxel map to obtain a two-dimensional grid map;
或者，对所述三维体素地图进行面片化转换，获得三维面片地图。Alternatively, the three-dimensional voxel map is subjected to a faceting conversion to obtain a three-dimensional faceting map.
为解决上述问题，本申请提供一种地图构建装置，包括：To solve the above problems, the present application provides a map construction device, comprising:
获取模块，用于获取飞行时间传感器在当前视点下所采集的若干当前观测数据；An acquisition module, used to acquire a number of current observation data collected by the time-of-flight sensor at the current viewpoint;
第一确定模块，用于基于各所述当前观测数据，确定各所述当前观测数据在地图坐标系下的当前体素；A first determination module, configured to determine a current voxel of each current observation data in a map coordinate system based on each current observation data;
第二确定模块，用于基于各所述当前体素以及所述当前视点，确定若干当前非障碍物体素；A second determination module, configured to determine a number of current non-obstruction pixels based on each of the current voxels and the current viewpoint;
构建模块，用于在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素，进行当前三维体素地图的构建，获得当前三维体素地图，直至完成各视点下的三维体素地图的构建，获得目标三维体素地图。A construction module is used to construct a current three-dimensional voxel map based on the historical three-dimensional voxel map reconstructed based on the previous viewpoint and based on each of the current non-obstacle object pixels, so as to obtain the current three-dimensional voxel map, until the construction of the three-dimensional voxel map under each viewpoint is completed to obtain the target three-dimensional voxel map.
为解决上述问题，本申请提供一种存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时实现上述任一项所述地图构建方法的步骤。In order to solve the above problems, the present application provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of any of the above map construction methods are implemented.
为解决上述问题，本申请提供一种电子设备，至少包括存储器、处理器，所述存储器上存储有计算机程序，所述处理器在执行所述存储器上的计算机程序时实现上述任一项所述地图构建方法的步骤。To solve the above problems, the present application provides an electronic device, comprising at least a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above map construction methods when executing the computer program on the memory.
本申请中的地图重建方法、装置、介质及设备，设置有飞行时间TOF传感器的清洁机器人，通过利用飞行时间传感器在各个视点下采集观测数据，从而可以对观测数据进行体素化、并获得若干当前非障碍物体素，后续就可以将其累计到前一视点所重建的历史三维体素地图中，从而完成当前三维体素的地图的构建，直至清洁机器人遍历所有可达区域之后，即TOF传感器遍历过所有视点，依次基于各视点、逐步完成三维体素地图的重建，由此能够准确的重建获得三维地图。The map reconstruction method, device, medium and equipment in the present application are provided with a cleaning robot with a time-of-flight TOF sensor. By utilizing the time-of-flight sensor to collect observation data at various viewpoints, the observation data can be voxelized and a number of current non-obstacle object pixels can be obtained. Subsequently, the data can be accumulated into the historical three-dimensional voxel map reconstructed by the previous viewpoint, thereby completing the construction of the current three-dimensional voxel map. After the cleaning robot traverses all reachable areas, that is, the TOF sensor traverses all viewpoints, the reconstruction of the three-dimensional voxel map is gradually completed based on each viewpoint in turn, thereby accurately reconstructing the three-dimensional map.
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本发明的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:
图1为本申请实施例一种地图构建方法的流程图；FIG1 is a flow chart of a map construction method according to an embodiment of the present application;
图2为本申请又一实施例一种地图构建装置的结构框图；FIG2 is a structural block diagram of a map construction device according to another embodiment of the present application;
图3为本申请另一实施例一种电子设备的结构框图。FIG3 is a structural block diagram of an electronic device according to another embodiment of the present application.
具体实施方式Detailed ways
此处参考附图描述本申请的各种方案以及特征。Various aspects and features of the present application are described herein with reference to the accompanying drawings.
应理解的是，可以对此处申请的实施例做出各种修改。因此，上述说明书不应该视为限制，而仅是作为实施例的范例。本领域的技术人员将想到在本申请的范围和精神内的其他修改。It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of the embodiments. Other modifications within the scope and spirit of the present application will occur to those skilled in the art.
包含在说明书中并构成说明书的一部分的附图示出了本申请的实施例，并且与上面给出的对本申请的大致描述以及下面给出的对实施例的详细描述一起用于解释本申请的原理。The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.
通过下面参照附图对给定为非限制性实例的实施例的优选形式的描述，本申请的这些和其它特性将会变得显而易见。These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.
还应当理解，尽管已经参照一些具体实例对本申请进行了描述，但本领域技术人员能够确定地实现本申请的很多其它等效形式。It should also be understood that although the present application has been described with reference to some specific examples, those skilled in the art will be able to readily implement many other equivalent forms of the present application.
当结合附图时，鉴于以下详细说明，本申请的上述和其他方面、特征和优势将变得更为显而易见。The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.
此后参照附图描述本申请的具体实施例；然而，应当理解，所申请的实施例仅仅是本申请的实例，其可采用多种方式实施。熟知和/或重复的功能和结构并未详细描述以避免不必要或多余的细节使得本申请模糊不清。因此，本文所申请的具体的结构性和功能性细节并非意在限定，而是仅仅作为权利要求的基础和代表性基础用于教导本领域技术人员以实质上任意合适的详细结构多样地使用本申请。Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and/or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present application. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.
本说明书可使用词组“在一种实施例中”、“在另一个实施例中”、“在又一实施例中”或“在其他实施例中”，其均可指代根据本申请的相同或不同实施例中的一个或多个。This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.
本申请实施例提供一种地图构建方法，具体可以应用于清洁机器人等电子设备。如图1所示，本实施例中的方法包括如下步骤：The present application embodiment provides a map construction method, which can be specifically applied to electronic devices such as cleaning robots. As shown in FIG1 , the method in this embodiment includes the following steps:
步骤S101，获取飞行时间传感器在当前视点下所采集的若干当前观测数据；Step S101, obtaining a number of current observation data collected by the time-of-flight sensor at the current viewpoint;
本步骤中，当前视点是指现在TOF传感器所处的、需要进行地图重建的区域场景中的位置点。当前观测数据是指深度估计数据，即通过TOF传感器在当前视点所采集到的TOF数据。也可以理解为，在当前视点下，通过TOF传感器进行探测，当有障碍物时，即可通过光线发射时间、以及接收到经过障碍物反射后光线的接收时间，确定时间差，即获得飞行时间数据。In this step, the current viewpoint refers to the location point in the regional scene where the TOF sensor is currently located and needs to be reconstructed. The current observation data refers to the depth estimation data, that is, the TOF data collected by the TOF sensor at the current viewpoint. It can also be understood that under the current viewpoint, the TOF sensor is used for detection. When there is an obstacle, the time difference can be determined by the light emission time and the light reception time after being reflected by the obstacle, that is, the flight time data is obtained.
步骤S102，基于各所述当前观测数据，确定各所述当前观测数据在地图坐标系下的当前体素；Step S102, based on each of the current observation data, determining the current voxel of each of the current observation data in the map coordinate system;
本步骤中，在获得当前观测数据之后，就可以对当前观测数据进行转换处理，以将观测数据的坐标转换到地图坐标系下，从而基于转换后的观测数据获得地图坐标系下的当前体素，即获得与各观测数据对应的TOF点。In this step, after obtaining the current observation data, the current observation data can be converted to convert the coordinates of the observation data into the map coordinate system, thereby obtaining the current voxel in the map coordinate system based on the converted observation data, that is, obtaining the TOF point corresponding to each observation data.
步骤S103，基于各所述当前体素以及所述当前视点，确定若干当前非障碍物体素；Step S103, determining a number of current non-obstruction pixels based on each of the current voxels and the current viewpoint;
本步骤中，在确定各当前体素之后，由于当前体素/TOF点是指探测到障碍物反馈的数据点，因此TOF点和当前视点这两点之间所构成的线段上没有障碍物，由此可以确定若干当前非障碍物体素。In this step, after determining each current voxel, since the current voxel/TOF point refers to the data point of obstacle detection feedback, there is no obstacle on the line segment formed by the TOF point and the current viewpoint, so several current non-obstacle pixels can be determined.
步骤S104，在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素，进行当前三维体素地图的构建，获得当前三维体素地图，直至完成各视点下的三维体素地图的构建，获得目标三维体素地图。Step S104, based on the historical 3D voxel map reconstructed based on the previous viewpoint, the current 3D voxel map is constructed based on each of the current non-obstacle object pixels to obtain the current 3D voxel map, until the construction of the 3D voxel map under each viewpoint is completed to obtain the target 3D voxel map.
本步骤中，在获得若干当前非障碍物体素之后，就可以根据各当前非障碍物体素的坐标对上一时刻重建获得的历史三维体素地图进行进一步地图重建，从而获得当前三维体素地图。直至清洁机器人遍历所有可达区域之后，即TOF传感器遍历过所有视点，依次基于各视点、逐步完成三维体素地图的重建，获得目标三维体素地图。In this step, after obtaining a number of current non-obstruction pixels, the historical 3D voxel map reconstructed at the last moment can be further reconstructed according to the coordinates of each current non-obstruction pixel, thereby obtaining the current 3D voxel map. After the cleaning robot has traversed all reachable areas, that is, the TOF sensor has traversed all viewpoints, the 3D voxel map is reconstructed based on each viewpoint step by step, and the target 3D voxel map is obtained.
本申请中的方法，设置有飞行时间TOF传感器的清洁机器人，通过利用飞行时间传感器在各个视点下采集观测数据，从而可以对观测数据进行体素化、并获得若干当前非障碍物体素，后续就可以将其累计到前一视点所重建的历史三维体素地图中，从而完成当前三维体素的地图的构建，直至清洁机器人遍历所有可达区域之后，即TOF传感器遍历过所有视点，依次基于各视点、逐步完成三维体素地图的重建，由此能够准确的重建获得三维地图。The method in the present application is to provide a cleaning robot with a time-of-flight TOF sensor. By utilizing the time-of-flight sensor to collect observation data at various viewpoints, the observation data can be voxelized and a number of current non-obstacle object pixels can be obtained. Subsequently, the data can be accumulated into the historical three-dimensional voxel map reconstructed by the previous viewpoint, thereby completing the construction of the current three-dimensional voxel map. After the cleaning robot has traversed all reachable areas, that is, the TOF sensor has traversed all viewpoints, the reconstruction of the three-dimensional voxel map is gradually completed based on each viewpoint in turn, thereby accurately reconstructing the three-dimensional map.
本申请又一实施例提供一种地图构建方法，本实施例中，在确定各观测数据对应的当前体素时，具体可以采用如下方式：Another embodiment of the present application provides a map construction method. In this embodiment, when determining the current voxel corresponding to each observation data, the following method can be specifically adopted:
就可以针对各所述当前观测数据，分别按照体素分辨率降采样处理，获得处理后的观测数据；然后基于飞行时间传感器的传感器外参以及飞行时间传感器位于地图坐标系中的位置信息，对各所述处理后的观测数据进行转换处理，获得地图坐标系下的目标观测数据；最后对各所述目标观测数据进行体素化处理，获得体素坐标，以确定与各目标观测数据对应的当前体素。本实施例中，如果同时存在另一个传感器提供TOF点/当前体素的红绿蓝RGB数据，还可以将RGB数据与各当前体素进行关联，由此能够使得后续重建获得的三维体素地图色彩更加符合场景区域的实际色彩，可以使可视化的效果更加直观。Each of the current observation data can be downsampled according to the voxel resolution to obtain the processed observation data; then, based on the sensor external parameters of the time-of-flight sensor and the position information of the time-of-flight sensor in the map coordinate system, each of the processed observation data is converted to obtain the target observation data in the map coordinate system; finally, each of the target observation data is voxelized to obtain the voxel coordinates to determine the current voxel corresponding to each target observation data. In this embodiment, if there is another sensor providing the red, green, and blue (RGB) data of the TOF point/current voxel at the same time, the RGB data can also be associated with each current voxel, so that the color of the three-dimensional voxel map obtained by subsequent reconstruction can be more consistent with the actual color of the scene area, and the visualization effect can be more intuitive.
本申请又一实施例提供一种地图构建方法，本实施例中，在进行当前三维体素地图的构建之前，所述方法还包括：确定各所述当前体素的障碍物类型，具体包括：基于前一视点的历史观测数据，确定各所述历史观测数据对应的历史法向量；基于当前视点下的各当前观测数据，确定各当前观测数据对应的当前法向量；基于各当前观测数据的当前法向量以及前一视点的历史观测数据的历史法向量，确定各当前观测数据对应的当前体素的障碍物类型为边界障碍物或非边界障碍物。也就是说，如果当前体素的TOF点法向量和上一时刻获得的法向量相反，则不增加当前体素为边界障碍物体素的概率，即确定该当前体素类型为非边界障碍物体素类型。反之，如果当前体素的TOF点法向量和上一时刻获得的法向量相同，则增加当前体素为边界体素的概率，即确定当前体素为墙体类的边界障碍物体素。由此后续就可以根据各当前体素的障碍物类型以及各当前非障碍物体素，进行三维体素地图的构建。也就是，在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素以及各所述当前体素的障碍物类型，进行当前三维体素地图的构建。本实施例中通过根据观测数据/TOF数据的法向量来确定当前体素的障碍物类型，能够使得障碍物类型的确定结果更加合理、准确，为后续基于当前体素的障碍物类型进行三维体素地图的重建奠定了基础。Another embodiment of the present application provides a map construction method. In this embodiment, before constructing the current three-dimensional voxel map, the method further includes: determining the obstacle type of each current voxel, specifically including: determining the historical normal vector corresponding to each historical observation data based on the historical observation data of the previous viewpoint; determining the current normal vector corresponding to each current observation data based on the current normal vector of each current observation data and the historical normal vector of the historical observation data of the previous viewpoint; determining the obstacle type of the current voxel corresponding to each current observation data as a boundary obstacle or a non-boundary obstacle based on the current normal vector of each current observation data and the historical normal vector of the historical observation data of the previous viewpoint. That is, if the TOF point normal vector of the current voxel is opposite to the normal vector obtained at the previous moment, the probability that the current voxel is a boundary obstacle pixel is not increased, that is, the current voxel type is determined to be a non-boundary obstacle pixel type. On the contrary, if the TOF point normal vector of the current voxel is the same as the normal vector obtained at the previous moment, the probability that the current voxel is a boundary voxel is increased, that is, the current voxel is determined to be a boundary obstacle pixel of the wall type. Therefore, a three-dimensional voxel map can be constructed based on the obstacle type of each current voxel and each current non-obstacle pixel. That is, based on the historical three-dimensional voxel map reconstructed based on the previous viewpoint, the current three-dimensional voxel map is constructed based on the obstacle type of each current non-obstacle pixel and each current voxel. In this embodiment, by determining the obstacle type of the current voxel based on the normal vector of the observation data/TOF data, the obstacle type determination result can be made more reasonable and accurate, laying the foundation for the subsequent reconstruction of the three-dimensional voxel map based on the obstacle type of the current voxel.
申请另一实施例提供一种地图构建方法，本实施例中，在基于各当前体素以及所述当前视点，确定若干当前非障碍物体素时，具体可以采用如下方式：基于各所述当前体素的体素坐标以及所述当前视点的视点坐标，构建与各所述当前体素对应的当前线段；确定各所述当前线段所经过的体素为第一非障碍物体素；确定沿着各所述线段延伸方向、未被所述当前视点所观测到的预定个数的体素为第二非障碍物体素。基于各所述第一非障碍物体素以及各所述第二非障碍物体素，获得所述若干当前非障碍物体素。Another embodiment of the application provides a map construction method. In this embodiment, when determining a number of current non-obstruction pixels based on each current voxel and the current viewpoint, the following method can be specifically used: construct a current line segment corresponding to each current voxel based on the voxel coordinates of each current voxel and the viewpoint coordinates of the current viewpoint; determine the voxels passed by each current line segment as the first non-obstruction pixel; determine a predetermined number of voxels along the extension direction of each line segment that are not observed by the current viewpoint as the second non-obstruction pixel. Based on each of the first non-obstruction pixels and each of the second non-obstruction pixels, obtain the number of current non-obstruction pixels.
本实施例中，具体是将每个TOF点所在当前体素与当前视点连成一条线段，线段的末端为TOF点/当前体素，然后可以增加末端体素为地图边界或障碍物的概率，即确定末端体素为边界类型的障碍物或者确定末端体素为非边界类型的障碍物。同时可以降低线段穿过点的体素为障碍体素的概率，即确定线段穿过的体素为当前非障碍物体素。并且，可以进一步沿着线段方向降低预定体素个数的、未被当前视点观测到的体素为边界的概率，预定体素个数可以为3-7个体素，也可以根据实际需要进行设定调整。比如沿着线段方向降低3个未被当前视点观测到的体素为边界的概率，或者沿着线段方向降低5个未被当前视点观测到的体素为边界的概率，再或者沿着线段方向降低7个未被当前视点观测到的体素为边界的概率。In this embodiment, the current voxel where each TOF point is located is specifically connected to the current viewpoint to form a line segment, and the end of the line segment is the TOF point/current voxel, and then the probability that the end voxel is a map boundary or obstacle can be increased, that is, the end voxel is determined to be a boundary type obstacle or the end voxel is determined to be a non-boundary type obstacle. At the same time, the probability that the voxel through the line segment is an obstacle voxel can be reduced, that is, the voxel through which the line segment passes can be determined to be the current non-obstacle object voxel. In addition, the probability that the voxels of a predetermined number of voxels that are not observed by the current viewpoint are boundaries can be further reduced along the line segment direction. The predetermined number of voxels can be 3-7 voxels, and can also be set and adjusted according to actual needs. For example, the probability that 3 voxels that are not observed by the current viewpoint are boundaries can be reduced along the line segment direction, or the probability that 5 voxels that are not observed by the current viewpoint are boundaries can be reduced along the line segment direction, or the probability that 7 voxels that are not observed by the current viewpoint are boundaries can be reduced along the line segment direction.
本申请另一实施例提供一种地图构建方法，本实施例中，由于TOF传感器在观测过程中会存在误差，定位也存在误差，由此体素地图的边界即墙面可能会出现多层。因此可以进一步确定体素的截断符号距离函数值，即确定体素的TSDF值，以便于结合体素的TSDF值进行地图重建，以使得构建获得的三维体素地图更加准确、合理。本实施例中确定体素TSDF值的过程如下：基于各当前体素，确定各历史障碍物体素在各当前障碍物体素下的各初始截断符号距离函数TSDF值；所述历史障碍物体素为进行历史三维体素地图重建时所确定的障碍物体素；针对基于同一历史障碍物体素的各初始TSDF值，确定各历史障碍物体素对应的、用于进行当前三维体素地图重建的目标TSDF值。具体的，可以如下表1所示。其中体素A表示基于当前观测数据所获得的当前体素，各体素A1-A6表示体素A附近的、基于历史观测数据所获得的历史障碍物体素。“0”表示当前体素A与实际障碍物真实平面的距离为零，由于历史障碍物体素A1-A6不是基于当前视点所观察到的，因此要按公式为各历史障碍物体素增加距离值，即增加TSDF值。比如为A1增加TSDF值+1，为A2增加TSDF值+1，为A3增加TSDF值+0.5，比如为A4增加TSDF值-0.5，为A5增加TSDF值-1，为A6增加TSDF值-1。其中，正号“+”表示体素位于物体表面之前，负号“-”表示体素位于物体表面之后。“0”表示体素在物体表面。Another embodiment of the present application provides a map construction method. In this embodiment, since the TOF sensor may have errors during the observation process and the positioning may also have errors, the boundary of the voxel map, i.e., the wall, may have multiple layers. Therefore, the truncated signed distance function value of the voxel can be further determined, that is, the TSDF value of the voxel can be determined, so as to combine the TSDF value of the voxel to reconstruct the map, so that the constructed three-dimensional voxel map is more accurate and reasonable. The process of determining the TSDF value of the voxel in this embodiment is as follows: based on each current voxel, determine each initial truncated signed distance function TSDF value of each historical obstacle pixel under each current obstacle pixel; the historical obstacle pixel is the obstacle pixel determined when reconstructing the historical three-dimensional voxel map; for each initial TSDF value based on the same historical obstacle pixel, determine the target TSDF value corresponding to each historical obstacle pixel for reconstructing the current three-dimensional voxel map. Specifically, it can be shown in Table 1 below. Wherein voxel A represents the current voxel obtained based on the current observation data, and each voxel A1 -A6 represents the historical obstacle pixel near voxel A and obtained based on the historical observation data. "0" means that the distance between the current voxel A and the actual obstacle plane is zero. Since the historical obstacle pixels A1 -A6 are not observed based on the current viewpoint, the distance value for each historical obstacle pixel should be increased according to the formula, that is, the TSDF value should be increased. For example, the TSDF value for A1 is increased by +1, the TSDF value for A2 is increased by +1, and the TSDF value for A3 is increased by +0.5. For example, the TSDF value for A4 is increased by -0.5, the TSDF value for A5 is increased by -1, and the TSDF value for A6 is increased by -1. Among them, the positive sign "+" indicates that the voxel is located before the surface of the object, and the negative sign "-" indicates that the voxel is located after the surface of the object. "0" means that the voxel is on the surface of the object.
表1：Table 1:
本实施例中，可以确定历史障碍物体素与当前体素的第一距离，然后将该第一距离与预定的截断距离相除，根据相除结果获得历史障碍物体素对应的初始TSDF值。比如相除结果小于预定的距离值则将相除结果直接作为初始TSDF值，反之如果相除结果大于或等于预定的距离值则将“1”作为初始TSDF值。可以理解为相除的值越小证明越贴近平面，超过一定距离后被截断为1。本实施例中，由于同一视点下会有多个当前体素，因此针对不同的当前体素每个历史障碍物体素会对应一个初始TSDF值，由此同一障碍物体素会对应有多个初始TSDF值，因此可以将这些初始TSDF值进行平均计算，从而获得与历史障碍物体素对应的目标TSDF值。In this embodiment, the first distance between the historical obstacle pixel and the current voxel can be determined, and then the first distance is divided by the predetermined cutoff distance, and the initial TSDF value corresponding to the historical obstacle pixel is obtained according to the division result. For example, if the division result is less than the predetermined distance value, the division result is directly used as the initial TSDF value. Conversely, if the division result is greater than or equal to the predetermined distance value, "1" is used as the initial TSDF value. It can be understood that the smaller the division value is, the closer it is to the plane, and it is truncated to 1 after exceeding a certain distance. In this embodiment, since there will be multiple current voxels under the same viewpoint, each historical obstacle pixel will correspond to an initial TSDF value for different current voxels, so the same obstacle pixel will correspond to multiple initial TSDF values, so these initial TSDF values can be averaged to obtain the target TSDF value corresponding to the historical obstacle pixel.
本实施例中，在获得各历史障碍物体素的目标TSDF值之后，就可以基于各历史障碍物体素的目标TSDF值进行当前三维体素地图的构建，为后续准确的构建获得目标三维体素地图奠定了基础，使得构建获得的目标三维体素地图更加合理、准确。In this embodiment, after obtaining the target TSDF value of each historical obstacle pixel, the current three-dimensional voxel map can be constructed based on the target TSDF value of each historical obstacle pixel, which lays the foundation for the subsequent accurate construction of the target three-dimensional voxel map, making the constructed target three-dimensional voxel map more reasonable and accurate.
本实施例中，在构建获得目标三维体素地图之后，还包括：对所述三维体素地图进行二维转换，获得二维栅格地图。本实施例中，在地面机器人导航中，路径规划和避障仅需2D栅格地图就可以完成，因此可以将目标三维体素地图转换为2D栅格地图。具体的，可以在完成地图构建后按机器人高度，对3D体素地图进行切割，以降维得到2D栅格地图。In this embodiment, after constructing the target three-dimensional voxel map, it also includes: converting the three-dimensional voxel map into a two-dimensional map to obtain a two-dimensional grid map. In this embodiment, in ground robot navigation, path planning and obstacle avoidance can be completed with only a 2D grid map, so the target three-dimensional voxel map can be converted into a 2D grid map. Specifically, after completing the map construction, the 3D voxel map can be cut according to the robot height to reduce the dimension to obtain a 2D grid map.
本实施例中，还可以对所述三维体素地图进行面片化转换，获得三维面片地图。具体的，可以使用matching cube进行地图的面片化转换。本实施例中，在地图可视化中，面片地图的呈现形式比体素更直观，更符合人的认知。因此通过将三维体素地图进行面片化转换能够提高可视化效果。In this embodiment, the three-dimensional voxel map can also be converted into a patch to obtain a three-dimensional patch map. Specifically, a matching cube can be used to convert the map into a patch. In this embodiment, in map visualization, the presentation form of the patch map is more intuitive than voxels and more in line with human cognition. Therefore, the visualization effect can be improved by converting the three-dimensional voxel map into a patch.
本申请另一实施例提供一种地图构建装置，如图2所示，包括：Another embodiment of the present application provides a map construction device, as shown in FIG2 , comprising:
获取模块11，用于获取飞行时间传感器在当前视点下所采集的若干当前观测数据；An acquisition module 11 is used to acquire a number of current observation data collected by the time-of-flight sensor at a current viewpoint;
第一确定模块12，用于基于各所述当前观测数据，确定各所述当前观测数据在地图坐标系下的当前体素；A first determination module 12 is used to determine the current voxel of each current observation data in the map coordinate system based on each current observation data;
第二确定模块13，用于基于各所述当前体素以及所述当前视点，确定若干当前非障碍物体素；A second determination module 13, configured to determine a number of current non-obstruction pixels based on each of the current voxels and the current viewpoint;
构建模块14，用于在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素，进行当前三维体素地图的构建，获得当前三维体素地图，直至完成各视点下的三维体素地图的构建，获得目标三维体素地图。The construction module 14 is used to construct the current 3D voxel map based on the historical 3D voxel map reconstructed based on the previous viewpoint and based on each of the current non-obstacle object pixels, so as to obtain the current 3D voxel map, until the construction of the 3D voxel map under each viewpoint is completed to obtain the target 3D voxel map.
本实施例在具体实施过程中，所述第一确定模块具体用于：针对各所述当前观测数据，分别按照体素分辨率降采样处理，获得处理后的观测数据；基于飞行时间传感器的传感器外参以及飞行时间传感器位于地图坐标系中的位置信息，对各所述处理后的观测数据进行转换处理，获得地图坐标系下的目标观测数据；对各所述目标观测数据进行体素化处理，获得体素坐标，以确定与各目标观测数据对应的当前体素。In the specific implementation process of this embodiment, the first determination module is specifically used to: for each of the current observation data, respectively downsample according to the voxel resolution to obtain the processed observation data; based on the sensor extrinsic parameters of the time-of-flight sensor and the position information of the time-of-flight sensor in the map coordinate system, convert each of the processed observation data to obtain the target observation data in the map coordinate system; voxelize each of the target observation data to obtain voxel coordinates to determine the current voxel corresponding to each target observation data.
本实施例在具体实施过程中，所述地铁构建装置还包括障碍物类型确定模块，所述障碍物类型确定模块用于：在进行当前三维体素地图的构建之前，确定各所述当前体素的障碍物类型，其具体用于：基于前一视点的历史观测数据，确定各所述历史观测数据对应的历史法向量；基于当前视点下的各当前观测数据，确定各当前观测数据对应的当前法向量；基于各当前观测数据的当前法向量以及前一视点的历史观测数据的历史法向量，确定各当前观测数据对应的当前体素的障碍物类型为边界障碍物或非边界障碍物。In the specific implementation process of this embodiment, the subway construction device also includes an obstacle type determination module, which is used to: determine the obstacle type of each current voxel before constructing the current three-dimensional voxel map, and is specifically used to: determine the historical normal vector corresponding to each historical observation data based on the historical observation data of the previous viewpoint; determine the current normal vector corresponding to each current observation data based on each current observation data under the current viewpoint; determine the obstacle type of the current voxel corresponding to each current observation data as a boundary obstacle or a non-boundary obstacle based on the current normal vector of each current observation data and the historical normal vector of the historical observation data of the previous viewpoint.
本实施例在具体实施过程中，所述构建模块，具体用于：在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素以及各所述当前体素的障碍物类型，进行当前三维体素地图的构建。In the specific implementation process of this embodiment, the construction module is specifically used to: construct the current three-dimensional voxel map based on the historical three-dimensional voxel map reconstructed based on the previous viewpoint and based on the obstacle type of each current non-obstacle voxel and each current voxel.
本实施例在具体实施过程中，所述第二确定模块具体用于：基于各所述当前体素的体素坐标以及所述当前视点的视点坐标，构建与各所述当前体素对应的当前线段；确定各所述当前线段所经过的体素为第一非障碍物体素；确定沿着各所述线段延伸方向、未被所述当前视点所观测到的预定个数的体素为第二非障碍物体素。基于各所述第一非障碍物体素以及各所述第二非障碍物体素，获得所述若干当前非障碍物体素。In the specific implementation of this embodiment, the second determination module is specifically used to: construct a current line segment corresponding to each current voxel based on the voxel coordinates of each current voxel and the viewpoint coordinates of the current viewpoint; determine the voxels passed by each current line segment as the first non-obstacle pixel; determine a predetermined number of voxels along the extension direction of each line segment that are not observed by the current viewpoint as the second non-obstacle pixel. Based on each of the first non-obstacle pixels and each of the second non-obstacle pixels, obtain the current non-obstacle pixels.
本实施例在具体实施过程中，所述地图构建装置还包括第三确定模块，所述第三确定模块用于：在进行当前三维体素地图的构建之前，所述方法还包括：基于各当前体素，确定各历史障碍物体素在各当前障碍物体素下的各初始截断符号距离函数TSDF值；所述历史障碍物体素为进行历史三维体素地图重建时所确定的障碍物体素；针对基于同一历史障碍物体素的各初始TSDF值，确定各历史障碍物体素对应的、用于进行当前三维体素地图重建的目标TSDF值。In the specific implementation process of this embodiment, the map construction device also includes a third determination module, and the third determination module is used to: before constructing the current three-dimensional voxel map, the method also includes: based on each current voxel, determining each initial truncated signed distance function TSDF value of each historical obstacle pixel under each current obstacle pixel; the historical obstacle pixel is the obstacle pixel determined when reconstructing the historical three-dimensional voxel map; for each initial TSDF value based on the same historical obstacle pixel, determining the target TSDF value corresponding to each historical obstacle pixel for reconstructing the current three-dimensional voxel map.
本实施例在具体实施过程中，所述地图构建装置还包括转换模块，所述转换模块用于：在获得目标三维体素地图之后，对所述三维体素地图进行二维转换，获得二维栅格地图；或者，对所述三维体素地图进行面片化转换，获得三维面片地图。In the specific implementation process of this embodiment, the map construction device also includes a conversion module, which is used to: after obtaining the target three-dimensional voxel map, perform a two-dimensional conversion on the three-dimensional voxel map to obtain a two-dimensional grid map; or perform a patch conversion on the three-dimensional voxel map to obtain a three-dimensional patch map.
本实施例中的装置，通过利用飞行时间传感器在各个视点下采集观测数据，从而可以对观测数据进行体素化、并获得若干当前非障碍物体素，后续就可以将其累计到前一视点所重建的历史三维体素地图中，从而完成当前三维体素的地图的构建，直至清洁机器人遍历所有可达区域之后，即TOF传感器遍历过所有视点，依次基于各视点、逐步完成三维体素地图的重建，由此能够准确的重建获得三维地图。The device in this embodiment collects observation data at each viewpoint by utilizing a time-of-flight sensor, thereby voxelizing the observation data and obtaining a number of current non-obstacle pixels, which can then be accumulated into the historical three-dimensional voxel map reconstructed by the previous viewpoint, thereby completing the construction of the current three-dimensional voxel map. This is until the cleaning robot traverses all reachable areas, that is, the TOF sensor traverses all viewpoints, and gradually completes the reconstruction of the three-dimensional voxel map based on each viewpoint in turn, thereby enabling accurate reconstruction of the three-dimensional map.
本申请另一实施例提供一种存储介质，所述存储介质存储有计算机程序，所述计算机程序被处理器执行时实现如下方法步骤：Another embodiment of the present application provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the following method steps are implemented:
步骤一、获取飞行时间传感器在当前视点下所采集的若干当前观测数据；Step 1: Obtain a number of current observation data collected by the time-of-flight sensor at the current viewpoint;
步骤二、基于各所述当前观测数据，确定各所述当前观测数据在地图坐标系下的当前体素；Step 2: based on each of the current observation data, determine the current voxel of each of the current observation data in the map coordinate system;
步骤三、基于各所述当前体素以及所述当前视点，确定若干当前非障碍物体素；Step 3: determining a number of current non-obstruction pixels based on each of the current voxels and the current viewpoint;
步骤四、在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素，进行当前三维体素地图的构建，获得当前三维体素地图，直至完成各视点下的三维体素地图的构建，获得目标三维体素地图。Step 4: Based on the historical 3D voxel map reconstructed based on the previous viewpoint, the current 3D voxel map is constructed based on each of the current non-obstacle object pixels to obtain the current 3D voxel map, until the construction of the 3D voxel map under each viewpoint is completed to obtain the target 3D voxel map.
上述方法步骤的具体实施过程可参见上述任意地图构建方法的实施例，本实施例在此不再重复赘述。The specific implementation process of the above method steps can be found in any of the above map construction method embodiments, and this embodiment will not be repeated here.
本申请中的存储介质，通过利用飞行时间传感器在各个视点下采集观测数据，从而可以对观测数据进行体素化、并获得若干当前非障碍物体素，后续就可以将其累计到前一视点所重建的历史三维体素地图中，从而完成当前三维体素的地图的构建，直至清洁机器人遍历所有可达区域之后，即TOF传感器遍历过所有视点，依次基于各视点、逐步完成三维体素地图的重建，由此能够准确的重建获得三维地图。The storage medium in the present application collects observation data at various viewpoints by utilizing a time-of-flight sensor, thereby voxelizing the observation data and obtaining a number of current non-obstacle object pixels, which can then be accumulated into the historical three-dimensional voxel map reconstructed by the previous viewpoint, thereby completing the construction of the current three-dimensional voxel map. This is until the cleaning robot traverses all reachable areas, that is, the TOF sensor traverses all viewpoints, and gradually completes the reconstruction of the three-dimensional voxel map based on each viewpoint in turn, thereby enabling accurate reconstruction of the three-dimensional map.
本申请另一实施例提供一种电子设备，如图3所示，至少包括存储器1、处理器2，所述存储器1上存储有计算机程序，所述处理器2在执行所述存储器1上的计算机程序时实现如下方法步骤：Another embodiment of the present application provides an electronic device, as shown in FIG3 , including at least a memory 1 and a processor 2, wherein the memory 1 stores a computer program, and the processor 2 implements the following method steps when executing the computer program on the memory 1:
步骤一、获取飞行时间传感器在当前视点下所采集的若干当前观测数据；Step 1: Obtain a number of current observation data collected by the time-of-flight sensor at the current viewpoint;
步骤二、基于各所述当前观测数据，确定各所述当前观测数据在地图坐标系下的当前体素；Step 2: based on each of the current observation data, determine the current voxel of each of the current observation data in the map coordinate system;
步骤三、基于各所述当前体素以及所述当前视点，确定若干当前非障碍物体素；Step 3: determining a number of current non-obstruction pixels based on each of the current voxels and the current viewpoint;
步骤四、在基于前一视点所重建的历史三维体素地图的基础上，基于各所述当前非障碍物体素，进行当前三维体素地图的构建，获得当前三维体素地图，直至完成各视点下的三维体素地图的构建，获得目标三维体素地图。Step 4: Based on the historical 3D voxel map reconstructed based on the previous viewpoint, the current 3D voxel map is constructed based on each of the current non-obstacle object pixels to obtain the current 3D voxel map, until the construction of the 3D voxel map under each viewpoint is completed to obtain the target 3D voxel map.
上述方法步骤的具体实施过程可参见上述任意地图构建方法的实施例，本实施例在此不再重复赘述。The specific implementation process of the above method steps can be found in any of the above map construction method embodiments, and this embodiment will not be repeated here.
本申请中的存储介质，通过利用飞行时间传感器在各个视点下采集观测数据，从而可以对观测数据进行体素化、并获得若干当前非障碍物体素，后续就可以将其累计到前一视点所重建的历史三维体素地图中，从而完成当前三维体素的地图的构建，直至清洁机器人遍历所有可达区域之后，即TOF传感器遍历过所有视点，依次基于各视点、逐步完成三维体素地图的重建，由此能够准确的重建获得三维地图。The storage medium in the present application collects observation data at various viewpoints by utilizing a time-of-flight sensor, thereby voxelizing the observation data and obtaining a number of current non-obstacle object pixels, which can then be accumulated into the historical three-dimensional voxel map reconstructed by the previous viewpoint, thereby completing the construction of the current three-dimensional voxel map. This is until the cleaning robot traverses all reachable areas, that is, the TOF sensor traverses all viewpoints, and gradually completes the reconstruction of the three-dimensional voxel map based on each viewpoint in turn, thereby enabling accurate reconstruction of the three-dimensional map.
以上实施例仅为本申请的示例性实施例，不用于限制本申请，本申请的保护范围由权利要求书限定。本领域技术人员可以在本申请的实质和保护范围内，对本申请做出各种修改或等同替换，这种修改或等同替换也应视为落在本申请的保护范围内。The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.
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| CN202410282522.9ACN118376227A (en) | 2024-03-12 | 2024-03-12 | Map reconstruction method, device, storage medium and electronic device |
| PCT/CN2025/081978WO2025190302A1 (en) | 2024-03-12 | 2025-03-12 | Map reconstruction method and apparatus, and storage medium and electronic device |
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| CN202410282522.9ACN118376227A (en) | 2024-03-12 | 2024-03-12 | Map reconstruction method, device, storage medium and electronic device |
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