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Initialization method, device and system of SLAM system, and AR control method, device and system

An initialization, gravity direction technology, applied in the input/output process of data processing, input/output of user/computer interaction, image data processing and other directions, can solve the problem that the initialization speed affects the waiting time and effect of electronic equipment.

Active Publication Date: 2019-08-13
ZHEJIANG SENSETIME TECH DEV CO LTD
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Problems solved by technology

The speed of SLAM system initialization affects the waiting time for users to use electronic devices, and the accuracy of information obtained by SLAM system initialization also affects the effect of applications such as augmented reality based on SLAM systems

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  • Initialization method, device and system of SLAM system, and AR control method, device and system
  • Initialization method, device and system of SLAM system, and AR control method, device and system
  • Initialization method, device and system of SLAM system, and AR control method, device and system

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Embodiment Construction

[0078] 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.

[0079] figure 1 It is a schematic flowchart of the initialization method of the SLAM system provided by Embodiment 1 of the present invention. In this embodiment, the SLAM system determines the opposite height of the main camera according to the main image and the backup image captured by the main and backup cameras along the first direction, and...

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Abstract

The invention provides an initialization method, device and system of Simultaneous Localization and Mapping (SLAM) system, and an augmented reality (AR) control method, device, and system. The methodcomprises: determining the opposite height of a main camera according to the gravity direction, a main image shot by the main camera of the electronic device in the first direction and a standby imageshot by the standby camera of the electronic device at the same moment; determining a reference surface according to the gravity direction and the opposite height; and projecting the main image intoa reference surface, and determining three-dimensional coordinate information and / or depth information of at least one feature point in the main image. According to the embodiment of the invention, the initialization speed of the SLAM is improved, and the accuracy of the opposite height and the accuracy of map construction in the visual initialization process are also improved.

Description

technical field [0001] The present invention relates to computer image processing technology, in particular to a SLAM system initialization, AR control method, device and system. Background technique [0002] SLAM systems can be widely used in fields such as augmented reality, virtual reality, robotics, and autonomous driving. The SLAM system is used to obtain the attitude of the electronic device itself, the environment where the electronic device is located, and the position of the electronic device in the environment. [0003] When a user uses an electronic device, the SLAM system first initializes, obtains the initial motion state information of the electronic device and the initial environmental information of the environment where the electronic device is located, and then performs processing such as tracking the state of the electronic device and building a map of the scene in real time. The speed of SLAM system initialization affects the waiting time for users to us...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F3/01G06T17/05G06T19/00
CPCG06F3/011G06T17/05G06T19/006
Inventor 鲍虎军章国锋王楠陈丹鹏
Owner ZHEJIANG SENSETIME TECH DEV CO LTD
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