A Synchronous Positioning and Map Construction Method

A technology of map construction and simultaneous positioning, which is applied in the field of computer vision and can solve the problem of not being able to obtain scene depth information

Active Publication Date: 2019-08-20
成都弥知科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The invention provides a synchronous positioning and map construction method, which solves the technical problem that the existing monocular synchronous positioning and map construction system cannot accurately obtain the depth information of the scene through a monocular camera, and realizes synchronous positioning and map construction. The construction system is optimized to accurately obtain the technical effect of the depth information of the scene

Method used

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Embodiment Construction

[0031] The invention provides a synchronous positioning and map construction method, which solves the technical problem that the existing monocular synchronous positioning and map construction system cannot accurately obtain the depth information of the scene through a monocular camera, and realizes synchronous positioning and map construction. The construction system is optimized to accurately obtain the technical effect of the depth information of the scene.

[0032] In order to understand the above-mentioned purpose, features and advantages of the present invention more clearly, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, under the condition of not conflicting with each other, the embodiments of the present application and the features in the embodiments can be combined with each other.

[0033] In the following description, many specific details are set fort...

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Abstract

The invention discloses a simultaneous localization and mapping method. The method comprises the following steps: S1, using an object of known size to initialize and optimize a simultaneous localization and mapping system; and S2, using the optimized simultaneous localization and mapping system to perform simultaneous localization and mapping. Therefore, optimization of a simultaneous localization and mapping system is realized, and the depth information of a scene can be obtained accurately.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a method for synchronous positioning and map construction. Background technique [0002] The synchronous positioning and map construction system starts from an unknown place in an unknown environment with a camera for the user, and locates its own position and posture by repeatedly observing map features (such as wall corners, pillars, etc.) during the movement, and then increments according to its own position In order to achieve the purpose of simultaneous positioning and map construction. [0003] The simultaneous positioning and map construction system based on ORB features is a monocular real-time system suitable for various indoor and outdoor environments based on feature recognition. Thanks to the system's built-in scene loop closure and reset functions, the system is highly robust and can handle images with severe motion well, and it can perform fully automatic p...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/50G06T17/00
Inventor 张波
Owner 成都弥知科技有限公司
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