Indoor scene positioning method based on hybrid camera
An indoor scene and localization method technology, which is applied in the field of indoor scene localization based on hybrid cameras, can solve the problems such as the scalability of the restriction method and the difficulty of calculating the similarity of key frames, and achieve the effect of improving the accuracy and efficiency.
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[0027] In order to describe the present invention in more detail, the technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
[0028] Such as figure 1 As shown, the indoor scene positioning method based on the hybrid camera of the present invention includes the following steps:
[0029] (1) Use the RGB-D hybrid camera to shoot indoor scenes to obtain an RGB image sequence and a depth image sequence;
[0030] (2) Extract the depth information of each pixel in each frame of the depth image sequence, generate a three-dimensional point cloud image of the indoor scene in real time, and calculate the hybrid camera parameters in real time;
[0031] In this embodiment, based on the traditional ICP (Iterative Closest Point) algorithm for estimating the camera pose, the ICP algorithm is specifically optimized, which mainly includes camera pose motion compensation and ICP point cloud registration with we...
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