Visual odometry method, device and computer-readable storage medium
A technology of visual odometry and model calculation, applied in the field of visual odometry, can solve problems such as recovering posture, inability to use relocation, difficulty in road sign transmission, etc., and achieve the effect of improving robustness and accuracy
Active Publication Date: 2022-04-08
RICOH KK
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For the field of automatic driving, the vehicle passes through less repetitive roads, so there may be cases where the attitude estimation fails due to the low image quality of some image frames in complex scenes, and the adjacent attitude cannot be restored by relocalization
Moreover, the SLAM method constrains the pose by continuously propagating the landmark points forward. However, when the number of features on the image is small, the transfer of the landmarks is difficult, so it cannot solve the difficult estimation of the pose of this part of the frame. The problem
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[0029] In order to make the objects, technical solutions, and advantages of the present disclosure more apparent, exemplary embodiments according to the present disclosure will be described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited by the exemplary embodiments described here. Based on the embodiments of the present disclosure described in the present disclosure, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present disclosure.
[0030]First, the application scenarios of the present disclosure are briefly introduced. As mentioned above, visual odometry provides a method for estimating the motion of an object from a continuous sequence of images obtained...
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A visual odometry method, apparatus, and computer-readable storage medium for estimating a target state are provided. The method may include: obtaining a first number of current frames for which the pose of the target is to be estimated, a second number of historical frames for which pose estimation has been performed immediately before the first frame in the current frame, and A subsequent frame after the last frame; infer the target pose in the current frame according to the pose estimation result of the historical frame; calculate the difference between the target pose of a frame in the historical frame and the target pose of the subsequent frame The pose changes among them are used as constraints; and the target pose in the current frame is optimized based on the constraints.
Description
technical field [0001] The present disclosure relates to visual odometry, and more particularly, to a visual odometry method, device, and computer-readable storage medium for estimating the pose of a target. Background technique [0002] In the field of mobile robots, simultaneous localization and mapping (SLAM) technology has been researched and developed for many years, and visual odometry is part of the SLAM problem, which estimates the position and attitude of the target based on vision incrementally. [0003] The main problem of visual odometry is how to estimate the motion of a target from several adjacent images. Feature-based methods are currently the mainstream way of visual odometry and have a long history of research. The feature method believes that for two images, some representative points should be selected first, called feature points. Afterwards, the motion of the object is estimated only for these feature points, and the spatial positions of the feature p...
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IPC IPC(8): G01C22/00
CPCG06T7/254G06T7/73G01C22/00
Inventor 李昊鑫李静雯王刚刘殿超
Owner RICOH KK