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CN105981077A 用于生成包括稀疏和密集测绘信息的地图的方法和系统 无效 - 撤回

用于生成包括稀疏和密集测绘信息的地图的方法和系统
摘要：
描述了用于地图生成的方法和系统。一种计算设备可以在环境中的该设备的位置处接收来自多个传感器的输出，该输出可以包括对应于在该第一位置处该环境的视觉特征的数据。基于来自多个传感器的输出中的对应性，该计算设备可以生成环境的地图，该地图包括稀疏测绘数据，并且该稀疏测绘数据包括对应于该视觉特征的数据。该设备可以在该环境中的该设备的其它位置处接收附加输出并且可以基于该附加输出对该地图进行修改。此外，该设备可以基于接收到来自传感器的密集测绘信息而对该地图进行修改，该密集测绘信息可以以表示该环境中的物体的结构的方式而包括对应于该环境中的物体的数据。
摘要（英）：

Methods and systems for map generation are described. A computing device may receive outputs from a plurality of sensors at a position of the device in an environment, which may include data corresponding to visual features of the environment at the first position. Based on correspondence in the outputs from the plurality of sensors, the computing device may generate a map of the environment comprising sparse mapping data, and the sparse mapping data comprises the data corresponding to the visual features. The device may receive additional outputs at other positions of the device in the environment and may modify the map based on the additional outputs. In addition, the device may modify the map based on receiving dense mapping information from sensors, which may include data corresponding to objects in the environment in a manner such that represents a structure of the object in the environment.

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