Apparartus and method for editing 3D slam data
AssigneesYujin Robot Co., Ltd., Miele & Cie. KG
InventorsSeong Ju Park, Jun Young Park, Hyun Woo Jo, In Hwan Kwon, Jae Young Lee
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Abstract
An apparatus and a method for editing 3D SLAM data according to an exemplary embodiment of the present disclosure directly edits a key frame or an edge of simultaneous localization and mapping (SLAM) data by the user's manipulation, optimizes a pose graph of the 3D SLAM data based on the key frame and the edge edited by the user's manipulation, and generates a 2D grid map corresponding to the 3D SLAM data based on the updated 3D SLAM data to improve the convenience of the user for editing the 3D SLAM data.
Claims8
An editing method performed by a three-dimensional (3D) simultaneous localization and mapping (SLAM) data editing apparatus which directly edits 3D SLAM data by user's manipulation, comprising:
- editing a key frame and an edge of the 3D SLAM data according to user's manipulation;
- optimizing a pose graph of the 3D SLAM data based on the edited key frame and edge to update the 3D SLAM data;
- and
- generating a 3D grid map corresponding to the 3D SLAM data based on the updated 3D SLAM data,
- wherein the key frame includes unique identification information, a position of the key frame, a covariance of the key frame, scan information, a number of cells, and information for included information.
Dependencies are inferred from the claim text.