公开(公告)号：US20210223048A1

公开(公告)日：2021-07-22

申请号：US17214464

申请日：2021-03-26

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Jie Huang ,  Yu Liu

IPC: G01C21/32 ,  G06T5/00 ,  G06T7/11 ,  G06T5/50 ,  G06K9/00

Abstract: Embodiments of the present disclosure provide a method and apparatus for updating a point cloud. The method may include: determining an area point cloud matching newly added point clouds from historical point clouds to be updated based on a set formed by a pose of a point cloud acquisition device acquiring the newly added point clouds; merging the newly added point clouds into the matched area point cloud to obtain merged historical point clouds; and performing global optimization on the merged historical point clouds based on a pose of each point cloud in the merged historical point clouds to obtain updated point clouds.

公开(公告)号：US11828606B2

公开(公告)日：2023-11-28

申请号：US17214464

申请日：2021-03-26

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Jie Huang ,  Yu Liu

IPC: G01C21/32 ,  G06T7/11 ,  G06T5/00 ,  G06T5/50 ,  G06K9/00 ,  G06V20/56

CPC classification number: G01C21/32 ,  G06T5/002 ,  G06T5/50 ,  G06T7/11 ,  G06V20/56 ,  G06T2207/10028 ,  G06T2207/20221

Abstract: A method and apparatus for updating a point cloud. The method may include: determining an area point cloud matching newly added point clouds from historical point clouds to be updated based on a set formed by a pose of a point cloud acquisition device acquiring the newly added point clouds. The method may further include: merging the newly added point clouds into the matched area point cloud to obtain merged historical point clouds. The method may further include: performing global optimization on the merged historical point clouds based on a pose of each point cloud in the merged historical point clouds to obtain updated point clouds.