Vision-based positioning method, device and equipment

A positioning method and visual technology, applied in the field of positioning, can solve the problems of low positioning accuracy of VPS, and achieve the effect of improving positioning accuracy and positioning success rate, large field of view, and avoiding positioning errors.
CN110296686AActive Publication Date: 2019-10-01BEIJING BAIDU NETCOM SCI & TECH CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
BEIJING BAIDU NETCOM SCI & TECH CO LTD
Publication Date
2019-10-01

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Abstract

The embodiment of the invention provides a vision-based positioning method, device and equipment. The method comprises the following steps: acquiring a plurality of images of at least two visual angles; extracting features of the plurality of images; according to the extracted features, determining matching point pairs of the plurality of images and a map database; according to the relative posesof the at least two visual angles and the matching point pairs, determining the scale information, the rotation information and the translation information between a camera coordinate system and a mapcoordinate system; and determining the position of a to-be-positioned image according to the scale information, the rotation information and the translation information. According to the method disclosed by the embodiment of the invention, the plurality of images of the at least two visual angles are obtained, a wider field of view is obtained, more matching point pairs can be obtained, and the positioning accuracy and the positioning success rate are improved.
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Description

technical field

[0001] Embodiments of the present invention relate to the technical field of positioning, and in particular, to a vision-based positioning method, device, and equipment. Background technique

[0002] Visual Positioning Service (Visual Positioning Service, VPS) is a technology that uses image acquisition equipment to obtain visual information for positioning. Compared with the current dominant Global Positioning System (Global Positioning System, GPS), VPS does not rely on satellite signals for positioning, and can provide location-based services in situations where GPS cannot work, such as indoor scenes where GPS signals cannot be received. Based Services, LBS). Therefore, VPS has a wide range of application prospects, for example, it can be used for robot navigation, unmanned driving, augmented reality (AugmentedReality, AR) map navigation, robot positioning, indoor LBS, etc.

[0003] Existing VPSs usually perform localization based on a single image. For...

Claims

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