Visual positioning method based on vehicle-mounted panorama image and streetscape matching

Abstract

The invention discloses a visual positioning method based on vehicle-mounted panorama images and streetscape matching. The visual positioning method comprises the following steps: firstly, acquiring streetscape images, extracting building facades and facade characteristic lines of the streetscape images, and extracting view shading characteristics so as to form view shading characteristic databases; clustering the view shading characteristics so as to obtain clustering result; secondly, acquiring view shading characteristics of the vehicle-mounted panorama images, confirming a vehicle-mounted panorama image taking point range and view shading characteristics within the range, and confirming clustering types corresponding to the view shading characteristics; and finally confirming type affiliation and final matching result of the view shading characteristics of the vehicle-mounted panorama images, and furthermore confirming the position of a vehicle. By adopting the visual positioning method, the difficulties that a GPS is poor in signal stability and applicability in urban areas and a conventional view positioning method is large in calculation amount and is not practical when depending on three-dimensional landform modeling can be avoided, vehicle-mounted panorama cameras which are popularized gradually and conventional streetscape maps with a great amount of data are adopted for positioning, and good landform applicability and positioning precision can be achieved.

Description

technical field [0001] The invention relates to a visual positioning method, in particular to a visual positioning method based on the matching of a vehicle-mounted panoramic image and a street view map. The optical image acquired by a vehicle-mounted panoramic remote sensing platform sensor is used to perform positioning when a GPS signal is missing in an urban area, which belongs to optical remote sensing image processing. technology field. Background technique [0002] Accurately measuring vehicle location information in urban areas is an important and challenging problem. Using GPS system positioning is the most common positioning method. Commercially operated GPS signals provide positioning information with an accuracy of 10 meters, and when ionospheric errors are accurately corrected, the positioning accuracy can be improved to the centimeter level. However, GPS signals often appear in urban areas due to insufficient number of receiving satellites due to high-rise bu...

AI Technical Summary

Problems solved by technology

In order to ensure positioning in a larger area, geo-marking and 3D modeling must be performed on the entire area, which is expensive, and due to traffic and other reasons, many places are difficult to reach and mark

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