To provide a method, a device, an apparatus, and storage media for updating a point group.SOLUTION: A method includes the steps of: determining a region point group matching a new point group from a history point group to be updated based on a set consisting of a pose of a point group collection apparatus for collecting the new point group; merging the new point group with the matched region point group to obtain a merged history point group; and globally optimizing the merged history point group based on the pose of each point group in the merged history point group to obtain an updated point group. A region point group matching the new point group is determined by the pose of the point group collection apparatus. Joining of the new point group can be achieved only by calling the region point group matching the new point group. In a joining process, all history point groups need not be involved in calculation, thereby an amount of calculation at the time of point group joining is effectively reduced and efficiency of point group updating is improved.SELECTED DRAWING: Figure 2

    【課題】点群を更新するための方法、装置、機器及び記憶媒体を提供する。【解決手段】方法は、新規点群を収集する点群収集機器のポーズから構成されるセットに基づいて、更新対象の履歴点群から新規点群にマッチングする領域点群を決定するステップと、新規点群をマッチングする領域点群に合併し、合併後の履歴点群を得るステップと、合併後の履歴点群中の各点群のポーズに基づいて、合併後の履歴点群をグローバル最適化し、更新後の点群を得るステップと、を含む。点群収集機器のポーズによって、新規点群にマッチングする領域点群を決定し、新規点群にマッチングする領域点群を呼び出すだけで新規点群の接合を実現することができ、接合プロセスではすべての履歴点群が演算に関与する必要がなく、それによって点群接合時の演算量を効果的に削減し、点群更新の効率を向上させる。【選択図】図2


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    Title :

    METHOD AND DEVICE FOR UPDATING POINT GROUP


    Additional title:

    点群を更新するための方法及び装置


    Contributors:
    HUANG JIE (author) / LIU YU (author)

    Publication date :

    2021-10-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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