A visual positioning method and an apparatus

A visual positioning, electronic device technology, applied in the direction of instruments, character and pattern recognition, computer parts, etc., can solve the problems of increased calculation amount, stay, unable to complete the mobile carrier positioning in real time, etc., to solve repeated calculation, reduce calculation amount Effect

Inactive Publication Date: 2013-07-03
IND TECH RES INST
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Problems solved by technology

[0006] However, when the particle filter algorithm is generally used for the positioning of the visual image sensing element of the mobile carrier, each particle must be compared with the image and the map feature points, so when the number of particles increases, the calculation amount will follow. significantly increased
In addition, most of

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  • A visual positioning method and an apparatus
  • A visual positioning method and an apparatus
  • A visual positioning method and an apparatus

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[0048] The present disclosure utilizes the characteristics of different feature points in the image that can be recognized by the visual image sensing element, and removes the repeated feature point comparison calculations in the particle filter positioning algorithm, so that the particle filter algorithm does not cause feature points as the number of particles increases The amount of comparison calculations is greatly increased, which can reduce the calculation amount of the visual image sensing element positioning software algorithm, and achieve the purpose of real-time positioning of the moving carrier for the visual image sensing element.

[0049] image 3 It is a block diagram of a visual positioning device according to an embodiment of the present disclosure. Figure 4 It is a flowchart of a visual positioning method according to an embodiment of the present disclosure. Please also refer to image 3 and Figure 4 The visual positioning device 30 is, for example, configured o...

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Abstract

A visual positioning method and an apparatus suitable for positioning an electronic device having an image sensing element. The method comprises: utilizing a particle filter to spray a plurality of particles to multiple positions around an estimated position by the electronic device, then identifying a plurality of map feature points in a visible range corresponding to each individual particle, and combining to form a visual map feature point set; then, using the image sensing element to extract the image and analyzing a plurality of image feature points of the image, and then comparing the above map feature point in the visual map feature point set with the image feature points of the image to obtain a comparison result; and at last, selecting a particle most close to the comparison result, wherein the position of the particle is the position of the electronic device.

Description

technical field [0001] The disclosure relates to a visual positioning method and device. Background technique [0002] The purpose of research and development of positioning and navigation technology is to estimate the position of the mobile carrier during the actual environment movement, and then achieve the accurate and stable navigation requirements of the mobile carrier. This technology can be divided into two categories: one is to build an electronic map of the environment, and use this map as the reference information when positioning the mobile carrier; Simultaneous positioning and environmental electronic map construction are carried out in the system. [0003] If the technology of building an electronic map of the environment is adopted, the mobile carrier can collect environmental information through sensing elements during the movement, and further compare it with the pre-built electronic map of the environment to complete its position estimation. for example, ...

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Application Information

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IPC IPC(8): G06K9/64
Inventor 蔡雨坤欧志鸿游鸿修王维汉
Owner IND TECH RES INST
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