Positioning method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a positioning method and device, equipment and a storage medium, and the method comprises the steps: extracting a first target feature point from an image collected by image collection equipment; extracting a second target feature point on the image outside the forbidden area determined by taking the first target feature point as the center; and matching the first target feature point and the second target feature point with a plurality of sampling points in a preset map to determine position information of the image acquisition device.

Description

technical field [0001] The embodiments of the present application relate to electronic technology, and involve but are not limited to positioning methods, devices, equipment, and storage media. Background technique [0002] Before the electronic device determines the position information of the image acquisition device, it needs to extract feature points from the image. At present, FAST (Features From Accelerated Segment Test) corner detection method is usually used to extract feature points. This method is mainly to determine the FAST feature value first; then, extract all the pixels whose feature value is higher than a fixed threshold, as Feature points. This FAST feature extraction method is widely used in real-time positioning and map construction (Simultaneous Localization And Mapping, SLAM) and visual tracking. [0003] However, based on the above feature point determination methods, the distribution of feature points in the image may be uneven, and multiple feature ...

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Problems solved by technology

[0003] However, based on the above method of determining feature points, the distribution of feature points in the image may be uneven, and multiple feature points with similar attributes are extracted, which is obviously unfavorable for shortening the positioning time.

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