Positioning and attitude-determining method and system
A positioning and attitude system and positioning and attitude technology are applied in the field of three-dimensional mobile measurement, which can solve the problems of complex device, unfavorable large-scale popularization, and high cost, and achieve the effect of simple device, favorable for large-scale popularization, and low cost.
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[0034] The first embodiment
[0035] figure 1 An example of the method of the present invention is shown. The steps of this method are as follows:
[0036] Step 1: Obtain the original image, perform feature point extraction on the original image, and match the feature points between adjacent original images.
[0037] The original image can be obtained by a multi-lens combined panoramic camera (multi camera rig). The multi-lens combined panoramic camera has multiple lenses, so each time you take a shot, you will obtain multiple images with a fixed relative position. These multiple original images are stitched together They form a panoramic image.
[0038] In the prior art, after stitching multiple original images into a panoramic image, the feature points of the panoramic image are extracted, and then the feature points of the two panoramic images are matched. Although this simplifies the processing, it will introduce systematic errors. This is because the non-strict model is based ...
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