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Position and posture optimization method and position and posture optimization system based on multi-map fusion

A technology of map fusion and optimization methods, which is used in image enhancement, image analysis, image data processing, etc.

Active Publication Date: 2018-03-30
BEIJING HUAJIE IMI TECH CO LTD
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Problems solved by technology

[0004] However, one of the difficulties of the multi-SLAM system is how to unify the obtained camera poses into the same coordinate system, so that the same map can be established

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  • Position and posture optimization method and position and posture optimization system based on multi-map fusion
  • Position and posture optimization method and position and posture optimization system based on multi-map fusion
  • Position and posture optimization method and position and posture optimization system based on multi-map fusion

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Embodiment Construction

[0083] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0084] refer to figure 1 , the first aspect of the present invention relates to a pose optimization method S100 based on multi-map fusion. This optimization method is applicable to the pose optimization system 100 based on multi-map fusion of the present invention, such as figure 2 As shown, the system includes a plurality of SLAM subsystems 110 , and each SLAM subsystem 110 includes a plurality of cameras 111 . Method S100 includes:

[0085] S110. Calibrate the wide-angle lenses of the plurality of cameras respectively, and obtain calibration parameters of the wide-angle lenses of the plurality of cameras.

[0086] Specifically, in this step, for example, ...

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Abstract

The invention discloses a position and posture optimization method and a position and posture optimization system based on multi-map fusion. The method includes the steps: calibrating wide-angle lenses of a plurality of cameras to obtain calibration parameters of the wide-angle lenses of the cameras; correcting wide-angle images of the wide-angle lenses corresponding to the calibration parametersaccording to the calibration parameters to obtain normal visual-angle images; placing the cameras at the same coordinate positions in a world coordinate system, and initializing the cameras; trackingand acquiring a moved normal visual-angle image of each camera, and calculating a key frame position and posture of each camera to generate a key frame position and posture set; optimizing each key frame position and posture in the key frame position and posture set to generate an optimized key frame position and posture set, and generating a fusion map according to the optimized key frame position and posture set. According to the method, positions and postures of a plurality of cameras can be unified into the same coordinate system, and the same maps are built, so that a plurality of maps can be fused.

Description

technical field [0001] The invention relates to the application field of somatosensory technology, in particular to a pose optimization method based on multi-map fusion and a pose optimization system based on multi-map fusion. Background technique [0002] At present, SLAM (Simultaneous Localization And Mapping) technology plays an important role in the field of augmented reality (AR, Augment Reality) technology. There have been many studies on single SLAM systems. In the future, the integration of multiple SLAM systems It will play an important role and can provide services for a variety of applications. For example, SLAM applications based on Software-as-a-Service (Saas, Software-as-a-Service) will generally appear on mobile devices. Therefore, in such an environment, pose optimization will become the key to the fusion technology of multiple SLAM maps. [0003] The application products of virtual reality (VR, Virtual Reality) technology in China have been very extensive i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T5/50
CPCG06T5/50G06T7/80G06T2207/20221
Inventor 王行盛赞李骊周晓军李朔
Owner BEIJING HUAJIE IMI TECH CO LTD
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