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Positioning method, positioning device, readable storage medium and electronic device

A positioning method and position information technology, applied in the field of computer vision, can solve the problems of inability to achieve positioning and low positioning efficiency

Active Publication Date: 2019-10-22
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the key frame images stored in the map are discontinuous, when using the key frame images in the map for rough positioning, the position of the mobile device can only be within a certain range of the pose of a certain key frame image. Unable to achieve positioning
Therefore, the existing positioning efficiency is low

Method used

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  • Positioning method, positioning device, readable storage medium and electronic device
  • Positioning method, positioning device, readable storage medium and electronic device
  • Positioning method, positioning device, readable storage medium and electronic device

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Embodiment Construction

[0079] Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.

[0080] In related technologies, the method of using VSLAM technology to build a map is mostly to determine N frames of key frame images according to preset rules from the M frame image sequence collected by the visual sensor, and extract the features representing the spatial environment from the key frame images point (such as figure 1 The key points in (2D Key Point)), according to the pose information of every two key frame images (such as figure 1 in Pose), key points (such as figure 1 2D Key Point in ), and description information of key points (such as figure 1 2DDescriptor in ), determine the 3D map point (3D Map Point), and the description informati...

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Abstract

The invention relates to a positioning method, a positioning device, a readable storage medium and an electronic device. The method includes a step of acquiring an image sequence captured by a visionsensor on a mobile device, a step of extracting feature information of each acquired image, a step of matching the feature information of the image and feature information of a map point in a map on aprojection point of a target plane, wherein the target plane is a plane corresponding to a pose of a previous image in image sequence, a step of determining a target map point corresponding to the projection point matched with the feature information of the image, and a step of determining the positioning information of the mobile device according to the position information of the target map point in the map. In this way, since the map point is projected on the plane corresponding to the pose of the previous image, the feature information of the projection point matching the feature information of the image is obtained, the use of a non-continuous key frame image saved in mapping for coarse positioning is not needed, so the positioning range of the mobile device can be improved, and thepositioning efficiency is improved.

Description

technical field [0001] The present disclosure relates to computer vision technology, and in particular, to a positioning method, a positioning device, a readable storage medium and electronic equipment. Background technique [0002] In many fields such as robot guides, unmanned driving, and augmented reality (Augmented Reality, AR), environmental maps are required. Therefore, it is necessary to map a certain area and need instant positioning when moving in this area. Visual Simultaneous Localization and Mapping (VSLAM, Visual Simultaneous Localization and Mapping) refers to the process of building an environmental map while calculating its own position based on the information of the visual sensor, to solve the problem of positioning and map building when moving in an unknown environment. [0003] In related technologies, positioning is mostly based on the key frame images stored in the map. In this way, it is necessary to first determine the key frame image that matches the...

Claims

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Application Information

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IPC IPC(8): G01C21/20G06F16/29G06T7/73
CPCG01C21/20G06T7/73G06F16/29
Inventor 韩立明林义闽廉士国
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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