Map construction method, device, storage medium and electronic equipment
A technology for map construction and camera device, applied in the fields of devices, storage media and electronic equipment, and map construction methods, can solve problems such as large storage space, and achieve the effect of improving versatility
Active Publication Date: 2021-02-02
BEIJING SANKUAI ONLINE TECH CO LTD
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Problems solved by technology
[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 present application provides a positioning method, device, storage medium, and electronic device, wherein the method includes: determining a first spatial coordinate of a camera device when collecting a depth image in a target space, and determining a position of the camera device when collecting the depth image. pose information; perform region segmentation on the depth image to obtain at least one sub-region; determine a positioning sub-region from the at least one sub-region; based on the distance information recorded in the depth image, the first spatial coordinates and the The attitude information determines a second space coordinate of the positioning sub-area in the target space, and a map is constructed based on the second space coordinate. The technical solution can store fewer feature points in the map, improve the versatility of the scene, and the constructed map can accurately record the location information of the target point in 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