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Optimization method and device for instant positioning and map building, medium and electronic equipment

A technology of map construction and optimization method, applied in the field of image processing, which can solve the problem of low accuracy of the monocular SLAM scheme, and achieve the effect of avoiding the omission of feature points, improving accuracy and robustness

Pending Publication Date: 2019-10-18
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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Problems solved by technology

[0004] The purpose of the present disclosure is to provide an optimization method for real-time positioning and map building, an optimization device for real-time positioning and map building, a storage medium, and electronic equipment, so as to overcome the limitations and defects of related technologies at least to a certain extent. The problem of low accuracy of inertial monocular SLAM scheme

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  • Optimization method and device for instant positioning and map building, medium and electronic equipment
  • Optimization method and device for instant positioning and map building, medium and electronic equipment
  • Optimization method and device for instant positioning and map building, medium and electronic equipment

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[0022] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details being omitted, or other methods, components, devices, steps, etc. may be adopted. In other instances, well-known technical solution...

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Abstract

The invention discloses an optimization method and device for instant positioning and map construction, a storage medium and electronic equipment, and relates to the technical field of image processing. The optimization method for instant positioning and map construction comprises the following steps: extracting visual feature points of a current frame of image, determining feature points associated with depth information of the current frame of image in the visual feature points as three-dimensional feature points, and determining feature points unassociated with the depth information in thevisual feature points as monocular feature points; and if the number of the matched visual feature points between the current frame image and the reference frame image is greater than a preset matching threshold value, optimizing the pose of the current frame of image by using a first constraint condition constructed by the monocular feature point information, a second constraint condition constructed by the inertial information and a third constraint condition constructed by the stereoscopic feature point information when the visual feature is aligned with the inertial feature so as to determine the pose parameter of the current frame of image. According to the invention, the precision and robustness of the SLAM can be improved.

Description

technical field [0001] The present disclosure relates to the technical field of image processing, in particular, to an optimization method for real-time positioning and map building, an optimization device for real-time positioning and map building, a storage medium, and electronic equipment. Background technique [0002] As one of the important technologies in the field of computer vision, SLAM (Simultaneous Localization And Mapping, real-time positioning and map construction) technology has received extensive attention and has developed rapidly. This technology can be applied to various fields such as drones, autonomous driving, building high-precision maps, virtual reality, and augmented reality. [0003] SLAM technology is used to construct a map of the unknown environment and locate the position of the sensor in the map in real time. In the monocular SLAM technology based on inertia, on the one hand, the speed of map initialization using visual information is slow; Th...

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Application Information

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IPC IPC(8): G06T7/73G06T17/05G06T19/00
CPCG06T7/73G06T17/05G06T19/006Y02T10/40
Inventor 王宇鹭
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD