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Visual positioning method and system

A technology for visual positioning and positioning, which is applied in the field of visual positioning methods and systems, and can solve problems such as poor robustness of visual positioning

Active Publication Date: 2021-09-14
NIO ANHUI HLDG CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem of poor robustness of the existing visual positioning, the present invention proposes a visual positioning method, which includes the following steps: obtaining the position at the standard positioning position image; extracting the edge points of the image; fitting the edge points to obtain a fitted curve; based on the fitted curve, calculating the coordinates of the standard positioning position in the world coordinate system

Method used

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Embodiment Construction

[0026] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention, and are not intended to limit the protection scope of the present invention. For example, although the various steps of the method of the present invention are described in a specific order in the present application, these orders are not limiting, and those skilled in the art can perform the steps in different orders without departing from the basic principles of the present invention. Follow the steps described.

[0027] First refer to figure 1 , figure 1 It is a flowchart of the visual positioning method of the present invention. like figure 1 As shown, the visual positioning method of the present invention includes the following steps: S110, acquiring the image at the standard positioning position; S120, extracti...

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Abstract

The invention belongs to the technical field of visual positioning, and in particular relates to a visual positioning method and system. In order to solve the problem of poor robustness of existing visual positioning, the visual positioning method proposed by the present invention includes the following steps: acquiring an image at a standard positioning position; extracting edge points of the image; fitting the edge points, A fitted curve is obtained; based on the fitted curve, the coordinates of the standard positioning position in the world coordinate system are calculated. The invention finally calculates the coordinates of the standard position in the world coordinate system by processing the image at the standard positioning position and extracting the edge points. Since the features of the edge points are invariant, the visual localization method of the present invention is more robust.

Description

technical field [0001] The invention belongs to the technical field of visual positioning, and in particular relates to a visual positioning method and system. Background technique [0002] The replacement station is mainly used to replace the battery of the electric vehicle, and "positioning" is a key step in realizing the battery replacement of the electric vehicle. On the battery replacement side, "positioning" mainly refers to the positioning between the battery replacement equipment and the battery and the body, more precisely, the positioning of the fastening device between the battery replacement equipment and the battery and the body. After the positioning is completed, the battery replacement equipment can directly lock or unlock the fastening device, thereby completing the installation or separation of the battery and the body. It can be seen that the success rate and accuracy of battery replacement directly affect the success rate of battery replacement and the r...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/73G06T7/13
CPCG06T7/13G06T7/73
Inventor 陈炯徐蓝飞杨潮
Owner NIO ANHUI HLDG CO LTD
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