Terminal locating method and apparatus

A positioning method and terminal technology, which are applied in measurement devices, image data processing, instruments, etc., to achieve the effects of optimizing convergence, accurate motion trajectory, and reducing possibility

Inactive Publication Date: 2018-09-04
SHICHEN INFORMATION TECH SHANGHAI CO LTD
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  • Abstract
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Problems solved by technology

[0004] However, in the prior art, this image processing method requires more computing resources to obtain enviro

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  • Terminal locating method and apparatus
  • Terminal locating method and apparatus

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Embodiment Construction

[0048] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0049] The term "and / or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the character " / " in this article generally ind...

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Abstract

Embodiments of the invention provide a terminal locating method and apparatus. The method comprises the steps of obtaining multiple image frames changed with time through a camera of a terminal, and obtaining multiple pieces of IMU data changed with time through an IMU (Inertial Measurement Unit) sensor, wherein a collection frequency of collecting the IMU data by the IMU sensor is greater than acollection frequency of collecting the image frames by the camera; integrating the IMU data corresponding to the image frames to corresponding image frame data through pre-integration to obtain attitude conversion data of the terminal among the image frames; and according to the attitude conversion data of the terminal, determining a spatial motion track of the terminal. The method provided by theembodiment of the invention can realize accurate locating of a terminal system.

Description

technical field [0001] Embodiments of the present invention relate to the field of computer vision effects, and in particular, to a terminal positioning method and device. Background technique [0002] With the advent of the Internet of Everything era, the effective use of various sensor data will greatly improve human understanding of the world, and assist or even change the way humans live and work through the large amount of data acquired by sensors. The use of endoplasmic or ectoplasmic sensors can give the body the ability to perceive its own posture and surrounding environment, so as to achieve various tasks. However, factors such as application scenarios and cost of use limit the form of sensors. For example, GPS signals commonly used in unmanned driving cannot be received in indoor environments, and the cost of laser sensors is relatively high. The cost of deployment also limits usage scenarios. Simultaneous localization and mapping is one of the hotspots in the fi...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/73G06T7/579G01C21/16
CPCG01C21/165G06T7/246G06T7/579G06T7/73G06T2207/10016G06T2207/30241
Inventor 徐尚王强张小军
Owner SHICHEN INFORMATION TECH SHANGHAI CO LTD
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