3 Apparatus and Method for generating 3D map based on the octree map

摘要

A 3D complex octree map generation method is disclosed. According to the disclosed method,A plurality of points having three-dimensional position information are detected in an image, and a space containing a plurality of detected points is represented by an octree-based grid. If the points constitute a plane, the plane information is directly stored without being divided into sub-grids . In addition, only the space that does not constitute the plane is divided into sub-grids to increase the storage efficiency.;