Camera pose determination method and device, and electronic equipment
A determination method and camera technology, applied in the field of image processing, can solve problems such as feature matching system failure, difficulty in determining feature matching, sparse maps, etc., and achieve the effect of avoiding individual differences
Active Publication Date: 2021-03-23
NANJING INST OF ADVANCED ARTIFICIAL INTELLIGENCE LTD
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Problems solved by technology
In the currently commonly used camera pose calculation methods, the method of minimizing the reprojection error is often used to calculate the camera pose. In this process, corner points need to be extracted and feature matching is performed; if the corner points are too sparse and the map is sparse, The error of feature matching is very easy to cause system failure, and it is difficult to determine the threshold for feature matching screening and wrong matching elimination
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[0020] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.
[0021] Application overview
[0022] As mentioned above, in the current visual odometry calculation method, the reprojection error is often optimized to calculate the relative motion parameters of the camera, so as to obtain the pose or position of the camera at the current moment. However, in this method, it is often necessary to extract corner points and perform feature matching; if the corner points are too sparse, the map will be sparse, and feature matching errors are very likely to cause system failure. Therefore, there is a need for improved camera ...
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The present application relates to a camera pose determination method and device and electronic equipment. The camera pose determination method may include: determining a plurality of first pixels with preset semantics in the current frame image collected by the camera; determining a plurality of second pixels with preset semantics in the previous frame image before the current frame image Points, wherein, a plurality of first pixel points correspond to at least part of a plurality of second pixel points; determine the error between the plurality of first pixel points and the plurality of second pixel points, the error includes a semantic error; determine the current frame based on the error The camera pose change value of the image relative to the previous frame image; and based on the camera pose corresponding to the previous frame image and the camera pose change value of the current frame image relative to the previous frame image, determine the camera pose corresponding to the current frame image . The camera pose determination method according to the embodiment of the present application can avoid the influence of individual differences between cameras by directly calculating on the semantic segmentation result.
Description
technical field [0001] The present application relates to the technical field of image processing, and more specifically, to a camera pose determining method, determining device and electronic equipment. Background technique [0002] The visual mileage calculation method has been widely used in the navigation field of robots and unmanned vehicles, such as smart cars and drones. The measurement error caused by the vehicle skidding of the type odometer also avoids the measurement error caused by factors such as the decrease of sensor accuracy, and improves the measurement accuracy. [0003] In the visual odometry calculation method, the calculation method of the camera pose is its core module. In the currently commonly used camera pose calculation methods, the method of minimizing the reprojection error is often used to calculate the camera pose. In this process, corner points need to be extracted and feature matching is performed; if the corner points are too sparse and the ...
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IPC IPC(8): G06T7/70
CPCG06T7/70G06T2207/10016G06T7/73G06T2207/30244
Inventor 颜沁睿
Owner NANJING INST OF ADVANCED ARTIFICIAL INTELLIGENCE LTD