Vision localization method and device

Abstract

The embodiment of the invention discloses a vision localization method and device. In the method, according to a preset camera device, a preset scene is shot to obtain image data; on the one hand, according to first feature points of an image and spatial feature points in a semantic space map, vector information matching is conducted, and a first matching point set is obtained; on the other hand,second feature points, containing second semantic information, in the image data are extracted, the second feature points and the spatial feature points are subjected to semantic information matching,and a second matching point set is obtained; according to the first matching point set and the second matching point set, the target pose information and the target position information of the presetcamera device are obtained. In the method, the texture information and the semantic information of the image are utilized at the same time to extract the feature points, more feature points which aresuccessfully matched with the spatial feature points in the semantic space map can be found in the image data, a more reliable data basis is provided for calculating the target pose information and the target position information of the preset camera device, and the localization precision is higher.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of visual positioning, and in particular, to a method and device for visual positioning. Background technique [0002] The existing visual positioning mainly uses the method of motion recovery structure to construct a three-dimensional spatial map of the scene offline, which includes the three-dimensional spatial positions of feature points and their corresponding feature descriptors. The input of the visual positioning system is image data. First of all, it is necessary to extract the feature points from the image data, and then match the feature points in the image with the feature points in the map. After obtaining the matching relationship, solve the position and attitude of the camera. [0003] However, in the existing visual positioning methods, on the one hand, the feature points in the spatial map of the scene established offline only contain the texture information of the scen...

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Problems solved by technology

[0005] The technical problem to be solved by the present invention is how to solve the problem that the existing visual positioning method only uses the texture information of the image data to perform feature matching, and the positioning accuracy is low, especially in the case of drastic changes in illumination or relatively monotonous scenes in the existing method. The problem of poor robustness of positioning

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