KR20220064884A - Apparatus and method for editing 3D SLAM data - Google Patents

Abstract

According to proper embodiments of the present invention, an apparatus and a method for editing three-dimensional simultaneous localization and mapping (SLAM) data directly edit a keyframe or an edge of three-dimensional SLAM data by an operation of a user, optimize a pose graph of the three-dimensional SLAM data based on the keyframe or the edge edited by the operation of the user to update the three-dimensional SLAM data, and generate a two-dimensional grid map corresponding to the three-dimensional SLAM data based on the updated three-dimensional SLAM data to improve user convenience for editing of the three-dimensional SLAM data.

Description

3D SLAM data editing apparatus and method {Apparatus and method for editing 3D SLAM data}

The present invention relates to an apparatus and method for editing 3D SLAM data, and more particularly, to an apparatus and method for editing 3D Simultaneous Localization And Mapping (SLAM) data.

Conventionally, when a map is incorrectly configured or an existing map cannot be used due to a change in the environment after drawing the map, there is a problem of having to draw a new map from the beginning.

To solve this problem, if the map is distorted or a new structure is created, the map editor is used to reflect this on the existing map instead of redrawing the map. Existing map editors do not edit 3D Simultaneous Localization And Mapping (SLAM) data such as keyframes and edges, but create a 2D grid map that is finally produced through the optimization process of the graph composed of them. used as a way to modify

However, since it is two-dimensional, there is a problem in that it is not possible to edit obstacles or structures in the three-dimensional space, and since it is not possible to edit keyframes and edges directly, if noise or incorrect edges are included in the graph during the SLAM process, correct In order to obtain a graph, there is a problem of composing a graph and drawing a map again through SLAM.

An object of the present invention is to directly edit a keyframe or edge of 3D SLAM (Simultaneous Localization And Mapping) data by a user's manipulation, and edit the keyframe or edge edited by the user's manipulation 3D SLAM data is updated by optimizing the position graph of 3D SLAM data based on An object of the present invention is to provide an apparatus and method for editing 3D SLAM data.

Other objects not specified in the present invention may be additionally considered within the scope that can be easily inferred from the following detailed description and effects thereof.

A 3D SLAM data editing apparatus according to a preferred embodiment of the present invention for achieving the above object is a 3D SLAM data editing apparatus for directly editing 3D SLAM data by a user's manipulation, and a keyframe of the 3D SLAM data. ) or an editing unit for editing edges; an update unit configured to update the 3D SLAM data by optimizing a position graph of the 3D SLAM data based on the keyframe or the edge edited by the editing unit; and a management unit generating a 2D grid map corresponding to the 3D SLAM data based on the 3D SLAM data updated by the update unit.

Here, the keyframe may include unique identification information of the keyframe, the position of the keyframe, covariance of the keyframe, scan information, the number of cells, and information on the cells. .

Here, the editing unit may include an operation of selecting or canceling the keyframe, an operation of changing information in the selected keyframe, an operation of deleting cells having a height lower than or higher than a preset height in the selected keyframe, and an operation of the selected keyframe An operation of deleting a designated cell within the selected keyframe, an operation of deleting a cell in which the number of points in a cell is smaller than a preset value among cells within the selected keyframe, and a vertex when the selected keyframe is a vertex By performing one of the operations of changing information, the keyframe of the 3D SLAM data may be edited.

Here, the edge may include unique identification information of a keyframe to be observed, unique identification information of a keyframe to be observed, and observed position information.

Here, the editing unit performs one of an operation of selecting or canceling the edge, an operation of changing information on the selected edge, an operation of deleting the selected edge, and an operation of adding a new edge to the 3D SLAM It is possible to edit the edge of the data.

Here, the update unit performs position graph optimization based on the keyframe and the edge edited by the editing unit to adjust the keyframe position of the position graph and adjusted The 3D SLAM data may be updated by adjusting the position of a vertex based on the position of the keyframe.

Here, the editing unit may automatically remove noise of cells in the keyframe or detect and automatically delete an outlier edge from the position graph.

Here, the display unit for displaying the 3D SLAM data on the screen; may further include.

Here, the display unit includes an operation of displaying information on the selected keyframe on a screen, an operation of displaying information on a vertex on the screen when the selected keyframe is a vertex, and an operation of displaying the information on the vertex on the screen, when the keyframe is selected and the height is set, an operation of displaying a cell located at a set height among the cells within the selected keyframe, an operation of displaying information on the selected edge on the screen, and an operation of displaying the selected keyframe and a cell selected from among the cells in the selected keyframe One of the operations of displaying or hiding the cell or the selected edge may be performed.

3D SLAM data editing method according to a preferred embodiment of the present invention for achieving the above object is an editing method performed in a 3D SLAM data editing apparatus that directly edits 3D SLAM data by a user's manipulation, wherein the 3D SLAM data editing a keyframe or edge of updating the 3D SLAM data by optimizing a position graph of the 3D SLAM data based on the edited keyframe or the edge; and generating a 2D grid map corresponding to the 3D SLAM data based on the updated 3D SLAM data.

Here, the editing step includes an operation of selecting or canceling the keyframe, an operation of changing information in the selected keyframe, an operation of deleting cells having a height lower than or higher than a preset height in the selected keyframe, and the selected key An operation of deleting a specified cell within a frame, an operation of deleting a cell in which the number of points in a cell is smaller than a preset value among cells within the selected keyframe, and an operation of deleting a cell in which the selected keyframe is a vertex The keyframe of the 3D SLAM data may be edited by performing one of the operations of changing the information on the 3D SLAM data.

Here, the editing step may include performing one of an operation of selecting or canceling the edge, an operation of changing information on the selected edge, an operation of deleting the selected edge, and an operation of adding the new edge, so that the 3D It may consist of editing said edge of SLAM data.

A computer program according to a preferred embodiment of the present invention for achieving the above technical problem is stored in a computer-readable recording medium, and any one of the above-described 3D SLAM data editing methods is executed in the computer.

According to the 3D SLAM data editing apparatus and method according to a preferred embodiment of the present invention, a keyframe or edge of 3D SLAM (Simultaneous Localization And Mapping) data is directly edited by a user's operation, and the user's 3D SLAM data is updated by optimizing the pose graph of 3D SLAM data based on keyframes or edges edited by manipulation, and 2D corresponding to 3D SLAM data based on the updated 3D SLAM data By generating a grid map, it is possible to improve user convenience for editing 3D SLAM data.

Effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a block diagram illustrating a 3D SLAM data editing apparatus according to a preferred embodiment of the present invention.
2 is a diagram for explaining a process of editing 3D SLAM data according to a preferred embodiment of the present invention.
3 is a view for explaining an example of 3D SLAM data according to a preferred embodiment of the present invention.
4 is a view for explaining an example of a 2D grid map according to a preferred embodiment of the present invention.
5 is a diagram for explaining the configuration of an editing screen of 3D SLAM data according to a preferred embodiment of the present invention.
FIG. 6 is a view for explaining an example of implementation of the configuration of the 3D SLAM data editing screen shown in FIG. 5 .
7 is a flowchart illustrating a 3D SLAM data editing method according to a preferred embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments published below, but may be implemented in various different forms, and only these embodiments make the publication of the present invention complete, and common knowledge in the art to which the present invention pertains It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used with the meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

In the present specification, terms such as “first” and “second” are for distinguishing one component from other components, and the scope of rights should not be limited by these terms. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component.

In the present specification, identification symbols (eg, a, b, c, etc.) in each step are used for convenience of description, and identification symbols do not describe the order of each step, and each step is clearly Unless a specific order is specified, the order may differ from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

In this specification, expressions such as “have”, “may have”, “include” or “may include” indicate the existence of a corresponding feature (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features.

In addition, the term '~ unit' as used herein means software or a hardware component such as a field-programmable gate array (FPGA) or ASIC, and '~ unit' performs certain roles. However, '-part' is not limited to software or hardware. '~unit' may be configured to reside on an addressable storage medium or may be configured to refresh one or more processors. Thus, as an example, '~' refers to components such as software components, object-oriented software components, class components, and task components, and processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data structures and variables. The functions provided in the components and '~ units' may be combined into a smaller number of components and '~ units' or further separated into additional components and '~ units'.

Hereinafter, a preferred embodiment of a 3D SLAM data editing apparatus and method according to the present invention will be described in detail with reference to the accompanying drawings.

First, a 3D SLAM data editing apparatus according to a preferred embodiment of the present invention will be described with reference to FIG. 1 .

1 is a block diagram illustrating a 3D SLAM data editing apparatus according to a preferred embodiment of the present invention.

Referring to FIG. 1 , the 3D SLAM data editing apparatus 100 according to a preferred embodiment of the present invention directly edits 3D SLAM data by a user's manipulation.

Here, 3D SLAM data is data composing a map based on a graph-based SLAM (Simultaneous Localization And Mapping) algorithm, and includes keyframes, vertices, and nodes (that is, key frames) may include an edge indicating a relationship between the frames. For example, if the user proceeds with the mapping process in SLAM mode, it is possible to obtain edge data, which is a connection relationship between keyframe data, which is a node of the graph, and keyframe, and optimize the relationship between them (keyframe data and edge data). Through the process, the map is constructed.

A keyframe is information representing a node of a graph. Keyframe unique identification information (ID, etc.), keyframe position (pose), keyframe covariance, keyframe pdist, scan information, cell (cell) It may include the number and information on the cells it has (the number of LiDAR points, distribution, etc.).

That is, a keyframe is a node of a graph constituting 3D SLAM, and contains 3D LiDAR (Light Detection And Ranging, LiDAR) data information. However, instead of managing the data in the form of a 3D point cloud, which is raw data coming from 3D LiDar, it is reprocessed into a data structure form that is convenient to edit and has very fast data access, so that it is called a cell. Stored and managed within the structure. Here, the data structure is an extended type of a binary tree and may be formed of an octree structure used to recursively express a 3D space.

And, a vertex is information indicating a keyframe that has a connection relationship with another keyframe among keyframes, and includes unique identification information (ID, etc.) of the keyframe, the position of the keyframe (pose), whether it is fixed, etc. can do.

In addition, the edge is information indicating the connection relationship between nodes (ie, keyframes) of the graph, and unique identification information (ID, etc.) of a keyframe that is a reference for observation, unique identification information of a keyframe that is observed (ID, etc.) , observed location information, precision, variance, and the like.

That is, the 3D SLAM data editing apparatus 100 directly edits a keyframe or an edge of 3D SLAM data by a user's manipulation, and based on the keyframe or edge edited by a user's manipulation, the position graph of the 3D SLAM data ( pose graph) to update the 3D SLAM data, and based on the updated 3D SLAM data, it is possible to generate a 2D grid map corresponding to the 3D SLAM data.

To this end, the 3D SLAM data editing apparatus 100 may include an input unit 110 , a display unit 130 , an editing unit 150 , an update unit 170 , and a management unit 190 .

The input unit 110 may receive a user's manipulation input. In addition, the input unit 110 may provide the received user manipulation to the management unit 190 .

The display unit 130 may display 3D SLAM data to be edited on the screen according to a user operation through the input unit 110 .

That is, the display unit 130 displays information on the selected keyframe (position, number of cells, number of points, bounding box size, etc.) on the screen under the control of the management unit 190, and the selected keyframe is a vertex. ), the operation of displaying information on the vertex on the screen, the operation of displaying the cell located at the set height among the cells within the selected keyframe when a keyframe is selected and the height is set, and information on the selected edge (observation) The operation of displaying on the screen the unique identification information of the keyframe that serves as a reference for the keyframe to be observed, the unique identification information of the observed keyframe, the observed position information, accuracy, etc., and the selected target (selected keyframe, among cells within the selected keyframe) One of the operations of displaying or hiding the selected cell or the selected edge) may be performed.

The editing unit 150 may edit a keyframe or an edge of 3D SLAM data to be edited according to a user operation through the input unit 110 .

That is, the editing unit 150 performs an operation of selecting or canceling a keyframe, an operation of changing information in the selected keyframe, an operation of deleting cells having a height lower than or higher than a preset height within the selected keyframe, and an operation of selecting a keyframe specified in the selected keyframe. An operation of deleting a cell, an operation of deleting a cell in which the number of points in a cell is less than a preset value among cells within a selected keyframe, and an operation of changing information about a vertex when the selected keyframe is a vertex You can edit keyframes of 3D SLAM data by doing one of the following:

In this case, the editing unit 150 edits information (parameters) on whether or not the cell in the selected keyframe has an artificial landmark among the information in the selected keyframe (that is, changes the information in the selected keyframe). ) to edit artificial structures in 3D SLAM data. Here, the artificial structure refers to a structure, such as a reflector, in which a laser is reflected well and thus a laser reflection intensity is high in LiDAR. SLAM according to the present invention is used for mapping and optimization by giving a large weight to such an artificial structure.

In addition, the editing unit 150 performs one of an operation of selecting or canceling an edge, an operation of changing information on the selected edge, an operation of deleting the selected edge, and an operation of adding a new edge, so that the edge of the 3D SLAM data is Can be edited.

In addition, the editing unit 150 automatically removes the noise of the cell in the keyframe or detects and automatically deletes an outlier edge in the pose graph by performing an automatic editing operation. , 3D SLAM data can be edited automatically.

For example, the editing unit 150 detects noise by combining information such as information on the number of points in a cell, covariance, the number of keyframes including the cell, and whether there is an artificial structure, and automatically deletes the detected noise. there is. Then, the editing unit 150 detects an outlier edge based on a difference value from information of other vertices or edges and a preset reference value using a graph algorithm such as max clique and loop closure, and automatically converts the detected outlier edge can be deleted with

In addition, the editing unit 150 may acquire integrated 3D SLAM data by merging a plurality of 3D SLAM data to be edited according to a user operation through the input unit 110 .

That is, the editing unit 150 loads the second 3D SLAM data that is a new editing target into the first 3D SLAM data (keyframe and edge set) that is the current editing target, and merges the first and second 3D SLAM data to obtain integrated 3D SLAM data. can be obtained.

In this case, the editing unit 150 may obtain the integrated 3D SLAM data by adjusting a reference frame corresponding to the 3D SLAM data. For example, the editing unit 150 changes the reference coordinate system of the first 3D SLAM data (designated as the origin, etc.), changes the reference coordinate system of the new second 3D SLAM data, and first and second 3D SLAM data in which the reference coordinate system is changed can be aligned to obtain integrated 3D SLAM data.

The update unit 170 may update the 3D SLAM data by optimizing a pose graph of the 3D SLAM data to be edited based on the keyframe or edge edited by the editing unit 150 .

That is, the update unit 170 performs position graph optimization based on the keyframe and the edge edited by the editing unit 150 to adjust the keyframe position of the position graph, and adjust the adjusted position of the position graph. 3D SLAM data can be updated by adjusting the positions of vertices based on the positions of keyframes.

In other words, the position graph composed of keyframes and edges before being edited is already optimized in the SLAM process before being edited. However, when keyframes, edges, etc. are edited through the 3D SLAM data editing process according to the present invention, the position graph is optimized by performing position graph optimization to reflect the changed contents. Here, the optimization refers to a process of adjusting the position of a keyframe to match the edge information in a position graph composed of keyframe positions and edge information (positions of other keyframes viewed from one keyframe) so that the error is minimized.

The management unit 190 controls the overall operation (user authentication function, data management function, editing function, update function, display function, history management function, etc.) of the 3D SLAM data editing apparatus 100, and the user through the input unit 110 Operations of the display unit 130 , the editing unit 150 , and the update unit 170 may be controlled according to the manipulation.

In particular, the manager 190 according to the present invention may generate a 2D grid map corresponding to the 3D SLAM data based on the 3D SLAM data updated by the updater 170 .

Meanwhile, although the 3D SLAM data editing apparatus 100 is illustrated in FIG. 1 as an independent device, the present invention is not limited thereto and may be implemented in various forms such as a server-client form, a software form, etc. according to embodiments. there is. For example, the 3D SLAM data editing apparatus 100 according to the present invention is included in the server and provides a 3D SLAM data editing function to the client in the form of a web service, and the client provides a user terminal such as a desktop computer, a laptop computer, a tablet, a smart phone, etc. You can access the server through the 3D SLAM data editing function. In addition, the 3D SLAM data editing apparatus 100 according to the present invention is implemented in the form of software installed and operated in the user terminal and stored in the server, and the software may be installed in the user terminal to use the 3D SLAM data editing function.

Next, a process of editing 3D SLAM data according to a preferred embodiment of the present invention will be described with reference to FIGS. 2 to 4 .

2 is a view for explaining an editing process of 3D SLAM data according to a preferred embodiment of the present invention, FIG. 3 is a view for explaining an example of 3D SLAM data according to a preferred embodiment of the present invention, FIG. 4 is It is a diagram for explaining an example of a 2D grid map according to a preferred embodiment of the present invention.

Referring to FIG. 2 , when 3D SLAM data to be edited (refer to FIG. 3 ) is input, the 3D SLAM data editing apparatus 100 edits a keyframe of 3D SLAM data to be edited or 3D to be edited according to a user's manipulation. The edge of the SLAM data is edited or the 3D SLAM data to be edited is automatically edited.

Then, the keyframe or edge of the graph is updated, and the 3D SLAM data editing apparatus 100 optimizes the position graph of the 3D SLAM data based on the updated (ie, edited) keyframe or edge to update the graph. do.

Then, the graph is optimized, and the 3D SLAM data editing apparatus 100 provides the optimized (ie, updated) 3D SLAM data as an output, and a 2D grid map corresponding to the optimized (ie, updated) 3D SLAM data. (See FIG. 4) is generated and provided.

Next, the configuration of the 3D SLAM data editing screen according to a preferred embodiment of the present invention will be described with reference to FIGS. 5 and 6 .

5 is a diagram for explaining the configuration of the 3D SLAM data editing screen according to a preferred embodiment of the present invention, and FIG. 6 is a diagram for explaining an implementation example of the 3D SLAM data editing screen configuration shown in FIG. 5 .

5 and 6 , the 3D SLAM data editing screen may include a “Menu” item, a “Toolbox” item, a “Panel 1” item, a “Panel 2” item, and a “Map” item.

The "Menu" item may display functions capable of executing various functions supported by the 3D SLAM data editor according to the present invention.

The "Toolbox" item can display frequently used functions.

The "Panel 1" item may display a list of keyframes and edge information (ie, unique identification information, etc.) of 3D SLAM data to be edited.

The "Panel 2" item may display information about a target (selected keyframe, selected cell, selected edge, etc.) selected by a user's manipulation from among the list displayed in the "Panel 1" item.

The "Map" item displays 3D SLAM data to be edited, and when a specific target (keyframe, cell, edge, etc.) is selected, a corresponding part may be displayed.

Then, a 3D SLAM data editing method according to a preferred embodiment of the present invention will be described with reference to FIG. 7 .

7 is a flowchart illustrating a 3D SLAM data editing method according to a preferred embodiment of the present invention.

Referring to FIG. 7 , the 3D SLAM data editing apparatus 100 edits a keyframe or an edge of 3D SLAM data according to a user's manipulation ( S110 ).

That is, the 3D SLAM data editing apparatus 100 performs an operation of selecting or canceling a keyframe, an operation of changing information in the selected keyframe, an operation of deleting cells having a height lower than or higher than a preset height within the selected keyframe, an operation of the selected key Information on the operation of deleting the specified cell within the frame, the operation of deleting the cell in which the number of points in the cell is less than a preset value among the cells within the selected keyframe, and the vertex when the selected keyframe is a vertex You can edit the keyframe of 3D SLAM data by performing one of the operations of changing .

At this time, the 3D SLAM data editing apparatus 100 performs an operation of editing information on whether a cell in the selected keyframe has an artificial structure among the information in the selected keyframe (ie, changing information in the selected keyframe). Thus, artificial structures of 3D SLAM data can be edited.

In addition, the 3D SLAM data editing apparatus 100 performs one of an operation of selecting or releasing an edge, an operation of changing information on the selected edge, an operation of deleting the selected edge, and an operation of adding a new edge, thereby performing 3D SLAM data editing. You can edit the edges of the data.

In addition, the 3D SLAM data editing apparatus 100 automatically removes noise of cells within a keyframe or detects and automatically deletes an outlier edge from a pose graph. By performing an action, you can automatically edit 3D SLAM data.

In addition, the 3D SLAM data editing apparatus 100 may acquire integrated 3D SLAM data by merging a plurality of 3D SLAM data to be edited according to a user manipulation.

Then, the 3D SLAM data editing apparatus 100 updates the 3D SLAM data by optimizing the position graph of the 3D SLAM data based on the edited keyframe or edge (S130).

That is, the 3D SLAM data editing apparatus 100 performs position graph optimization based on the edited keyframe and edge to adjust the position of the keyframe of the position graph and adjust the position of the adjusted keyframe. 3D SLAM data can be updated by adjusting the position of a vertex based on the position.

Thereafter, the 3D SLAM data editing apparatus 100 generates a 2D grid map corresponding to the 3D SLAM data based on the updated 3D SLAM data (S150).

Even though all the components constituting the embodiment of the present invention described above are described as being combined or operated in combination, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more. In addition, all of the components may be implemented as one independent hardware, but a part or all of each component is selectively combined to perform some or all of the functions of the combined hardware in one or a plurality of hardware program modules It may be implemented as a computer program having In addition, such a computer program is stored in a computer readable media such as a USB memory, a CD disk, a flash memory, etc., read and executed by a computer, thereby implementing an embodiment of the present invention. The recording medium of the computer program may include a magnetic recording medium, an optical recording medium, and the like.

The above description is merely illustrative of the technical idea of the present invention, and various modifications, changes, and substitutions are possible within the range that does not depart from the essential characteristics of the present invention by those of ordinary skill in the art to which the present invention pertains. will be. Accordingly, the embodiments disclosed in the present invention and the accompanying drawings are for explaining, not limiting, the technical spirit of the present invention, and the scope of the technical spirit of the present invention is not limited by these embodiments and the accompanying drawings . The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

100: 3D SLAM data editing device;
110: input unit,
130: display unit;
150: editorial department;
170: update unit,
190: management

Claims (13)

A 3D SLAM data editing device that directly edits 3D SLAM data by user operation, comprising:
an editing unit for editing a keyframe or an edge of the 3D SLAM data;
an update unit configured to update the 3D SLAM data by optimizing a position graph of the 3D SLAM data based on the keyframe or the edge edited by the editing unit; and
a management unit generating a 2D grid map corresponding to the 3D SLAM data based on the 3D SLAM data updated by the update unit;
3D SLAM data editing device comprising a. In claim 1,
The keyframe is
Unique identification information of the keyframe, the position of the keyframe (pose), the covariance of the keyframe, scan information, including information about the number of cells and the cell,
3D SLAM data editing device. In claim 2,
The editorial unit,
Selecting or canceling the keyframe, changing information in the selected keyframe, deleting a cell lower or higher than a preset height in the selected keyframe, deleting a designated cell in the selected keyframe operation, deleting a cell in which the number of points in a cell is smaller than a preset value among cells in the selected keyframe, and changing information about a vertex when the selected keyframe is a vertex Editing the keyframe of the 3D SLAM data by doing one,
3D SLAM data editing device. In claim 1,
The edge is
Including the unique identification information of the keyframe to be observed, the unique identification information of the keyframe to be observed, and the observed position information,
3D SLAM data editing device. In claim 4,
The editorial unit,
Editing the edge of the 3D SLAM data by performing one of an operation of selecting or canceling the edge, an operation of changing information on the selected edge, an operation of deleting the selected edge, and an operation of adding a new edge doing,
3D SLAM data editing device. In claim 1,
The update unit,
Position graph optimization (pose graph optimization) is performed based on the keyframe and the edge edited by the editing unit to adjust the keyframe position of the position graph, and the adjusted position of the keyframe By adjusting the position of the vertex based on the 3D SLAM data,
3D SLAM data editing device. In claim 1,
The editorial unit,
Automatically removing noise of cells in the keyframe, or detecting and automatically deleting an outlier edge in the position graph,
3D SLAM data editing device. In claim 1,
a display unit for displaying the 3D SLAM data on a screen;
3D SLAM data editing device further comprising a. In claim 9,
The display unit,
The operation of displaying information on the selected keyframe on the screen, the operation of displaying information on the vertex on the screen when the selected keyframe is a vertex, the operation of displaying the information on the vertex on the screen when the keyframe is selected and the height is set An operation of displaying a cell located at a set height among cells within the keyframe, an operation of displaying information on the selected edge on a screen, and an operation of displaying the selected keyframe, a selected cell from among cells within the selected keyframe, or the selected edge to perform one of the following actions: to show or hide
3D SLAM data editing device. An editing method performed in a 3D SLAM data editing device that directly edits 3D SLAM data by a user's manipulation, comprising:
editing a keyframe or edge of the 3D SLAM data;
updating the 3D SLAM data by optimizing a position graph of the 3D SLAM data based on the edited keyframe or the edge; and
generating a 2D grid map corresponding to the 3D SLAM data based on the updated 3D SLAM data;
3D SLAM data editing method comprising In claim 10,
The editing step is
Selecting or canceling the keyframe, changing information in the selected keyframe, deleting a cell lower or higher than a preset height in the selected keyframe, deleting a designated cell in the selected keyframe operation, deleting a cell in which the number of points in a cell is smaller than a preset value among cells in the selected keyframe, and changing information about a vertex when the selected keyframe is a vertex Doing one consists of editing the keyframes of the 3D SLAM data,
How to edit 3D SLAM data. In claim 10,
The editing step is
Editing the edge of the 3D SLAM data by performing one of an operation of selecting or canceling the edge, an operation of changing information on the selected edge, an operation of deleting the selected edge, and an operation of adding a new edge made by doing
How to edit 3D SLAM data. A computer program stored in a computer-readable recording medium in order to execute the 3D SLAM data editing method according to any one of claims 10 to 12 in a computer.

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