Multi-map switching SLAM mapping method

The invention provides a multi-map switching SLAM mapping method, and the method comprises the steps: carrying out the SLAM mapping of each sub-region in a plurality of pre-obtained sub-regions according to first fusion data based on a laser point cloud scanning matching algorithm, and obtaining a f...

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Bibliographische Detailangaben
Hauptverfasser: MEN ZHIPING, YING JINGFAN, MA BAOPING, ZHU HUISHEN, WANG CHUNLEI, FAN QIHAN
Format: Patent
Sprache:chi ; eng
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Zusammenfassung:The invention provides a multi-map switching SLAM mapping method, and the method comprises the steps: carrying out the SLAM mapping of each sub-region in a plurality of pre-obtained sub-regions according to first fusion data based on a laser point cloud scanning matching algorithm, and obtaining a first map; wherein the first map is a map corresponding to a plurality of local areas; the first fusion data is obtained by fusing two-dimensional laser radar data of each sub-region acquired by a plurality of sensors and three-dimensional point cloud data of each sub-region; then, splicing the first maps based on a preset image matching method according to the visual images corresponding to the overlapping areas among the plurality of first maps to obtain a second map; and finally, constructing an image retrieval database based on a deep neural network model according to a mapping relationship between each position in the second map and the visual image acquired by the sensor, so as to switch the plurality of first