Positioning method and system based on travel perception and visual fusion, terminal and storage medium

Abstract

The invention provides a positioning system based on travel perception and visual fusion and a terminal. The method comprises the steps: in a preparation stage, obtaining visual data and travel data;incremental corresponding relation conversion: determining an initial position, and obtaining a conversion relation of the increment extracted from the travel data for the travel sensing equipment atthe previous moment i at the next moment j; constraining, namely constraining the visual perception equipment by taking a conversion relation of increments extracted by the travel perception equipmentas a constraint condition. Travel sensing equipment is adopted to sense the length and course angle information of vehicle body motion, and the length or track information sensed by the travel sensing equipment is used as the track constraint of a camera, so that the problem of uncertain scale of a monocular camera is solved, and visual positioning error accumulation and scale drift can be prevented. Besides, only the length constraint of travel perception is adopted, a good effect can also be achieved for positioning of a non-planar scene, and the system is not limited to a planar scene.

Description

technical field [0001] The present invention relates to the technical field of automotive electronics, in particular to a positioning method, system, terminal and storage medium based on travel perception and vision fusion. Background technique [0002] Simultaneous localization and mapping (SLAM for short) centered on vision is a technology that simultaneously calculates the position, orientation (pose) of the camera and the three-dimensional coordinates of the environment point cloud through image matching. For the monocular camera, there is an unknown scale factor (scale) between the calculated trajectory and the real trajectory length, which makes the positioning and mapping results lack of practicability; in addition, the positioning results of the monocular camera are also prone to scale drift, resulting in It is unavailable in a wide range; the present invention uses the vehicle wheel speed pulse odometer as a scale information constraint, so that the positioning and ...

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Problems solved by technology

[0016] The above is the existing technology closest to this article, and also uses the pose constraints provided by the wheel odometer to constrain and optimize the pose of the camera, but these methods without exception require the odometer to run on a plane, and its objects are There is a robot encoder odometer with higher precision,

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