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Method and device for determining feature points during synchronous positioning and map construction

A map construction and synchronous positioning technology, applied in the field of cloud map construction, can solve problems such as consuming computing resources and affecting the accuracy of point clouds, and achieve the effects of improving sparsity, construction speed, and positioning speed

Active Publication Date: 2018-01-19
LENOVO (BEIJING) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

In the actual scene, there are a large number of non-static feature points. If these non-static feature points are not eliminated, the accuracy of the point cloud will be affected.
In order to eliminate these feature points, V-SLAM adopts various optimization strategies, which consume a lot of computing resources.

Method used

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  • Method and device for determining feature points during synchronous positioning and map construction
  • Method and device for determining feature points during synchronous positioning and map construction
  • Method and device for determining feature points during synchronous positioning and map construction

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Embodiment Construction

[0048] Below, specific embodiments of the present invention will be described in detail in conjunction with the accompanying drawings, but they are not intended to limit the present invention.

[0049] It should be understood that various modifications may be made to the embodiments disclosed herein. Accordingly, the above description should not be viewed as limiting, but only as exemplifications of embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the disclosure.

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the embodiments of the disclosure. principle.

[0051] These and other characteristics of the invention will become apparent from the following description of preferred...

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Abstract

The embodiment of the invention provides a method and a device for determining feature points during synchronous positioning and map construction. The method comprises the steps of acquiring the imageinformation by image acquisition equipment; based on the acquired image information, acquiring a set of first feature points in the image information; analyzing non-static feature points in the set of first feature points, wherein the non-static feature points are feature points corresponding to a moving object; filtering the non-static feature points out of the set of first feature points to generate a set of second feature points. Based on the method and the device, non-static feature points can be simply and conveniently removed, so that the accuracy and the speed of map construction are improved.

Description

technical field [0001] Embodiments of the present invention relate to the field of cloud map construction, and in particular to a method and device for synchronous positioning and feature point determination in map construction. Background technique [0002] The core of synchronous positioning in map construction is to collect images through cameras, extract feature points in the image through feature point extraction algorithms, and then construct point cloud maps with feature points and key frames, and then complete subsequent positioning and navigation through point clouds. Therefore, feature points are the basic elements of V-SLAM maps, and a good feature point should be static and re-detectable. In the actual scene, there are a large number of non-static feature points. If these non-static feature points are not eliminated, the accuracy of the point cloud will be affected. In order to eliminate these feature points, V-SLAM adopts various optimization strategies, which ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
Inventor 邹李兵
Owner LENOVO (BEIJING) CO LTD
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