SLAM map topology evaluation method and device, electronic equipment and storage medium

• Main Authors: LEE DONG-WOO, HU QINGLEI, CUI JIAHE, ZHANG CHANGJIE, OUYANG ZHENCHAO
• Format: Patent
• Language: Chinese; English
• Published: 15.08.2023
• Subjects: CALCULATING; COMPUTING; COUNTING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention relates to the technical field of mapping, in particular to an SLAM map topology evaluation method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining point cloud data of a target region; inputting the point cloud data into a trained deep learning point cloud semantic segmentation model, and performing plane detection on the point cloud of a predefined static scene semantic category to obtain a candidate plane set and correspondingly estimated normal information; constructing an adjacent matrix of candidate planes in the candidate plane set through a parallel plane detection condition, and calculating a coplane point variance; and performing normal cohesion clustering on the normal information to obtain a plurality of normal sub-clusters, calculating a normal entropy mean value based on the normal of each sub-cluster, and determining a map topology evaluation result of a synchronous localization and mapping (SLAM) map of the target area according