Map construction method and device, storage medium and electronic equipment
A map construction and map technology, applied in the field of positioning, can solve problems such as large storage space, and achieve the effect of improving versatility
Active Publication Date: 2020-01-24
BEIJING SANKUAI ONLINE TECH CO LTD
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[0002] In the prior art, when building a map, the visual feature points in the image are used as feature quantities to form a feature map; this vision-based method for building a map requires rich feature points in the scene, and these feature points need to be stored in the map medium, resulting in excessive storage space
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[0033] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present application as recited in the appended claims.
[0034] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term...
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The invention provides a positioning method and device, a storage medium and electronic equipment. The positioning method comprises the following steps: determining a first space coordinate when a camera device collects a depth image in a target space and determining attitude information when the camera device collects the depth image; performing region segmentation on the depth image to obtain atleast one sub-region; determining a positioning subarea from the at least one subarea; and determining second space coordinates of the positioning subarea in the target space based on distance information recorded by the depth image, the first space coordinates and the attitude information, and constructing a map based on the second space coordinates. According to the technical scheme, fewer feature points can be stored in the map, and the universality of the scene is improved, and the constructed map can accurately record the position information of the target point in the space.
Description
technical field [0001] The present application relates to positioning technology, and in particular to a map construction method, device, storage medium and electronic equipment. Background technique [0002] In the prior art, when building a map, the visual feature points in the image are used as feature quantities to form a feature map; this vision-based method for building a map requires rich feature points in the scene, and these feature points need to be stored in the map , resulting in excessive storage space. Contents of the invention [0003] In view of this, the present application provides a map construction method, device, storage medium and electronic equipment, which are used to improve the accuracy of spatial point positioning, thereby ensuring that the constructed map can accurately record the position information of the target point in space . [0004] In order to achieve the above object, the application provides technical solutions as follows: [0005]...
Claims
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IPC IPC(8): G06T7/11G06T7/521G06T7/70G01C21/20
CPCG06T7/11G06T7/521G06T7/70G01C21/20G06T2207/10028G06T7/75G01C21/3848G06T7/73G01C21/383G01C21/3837G06V20/647G06F18/2148
Inventor 申浩聂琼郝立良程保山王景恒
Owner BEIJING SANKUAI ONLINE TECH CO LTD