Positioning and mapping method and device, positioning method, device and system
A technology of positioning data and preliminary positioning, applied in image analysis, image enhancement, image data processing and other directions, can solve the problems of high mismatch rate, affecting positioning accuracy, slow map data speed of bag of words model, etc., to improve the matching rate. and efficiency, reduce the number of feature points, and reduce the effect of false matching rate
Active Publication Date: 2021-11-12
BEIJING SANKUAI ONLINE TECH CO LTD
View PDF6 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
In the matching process, a technical idea is based on the key frame and bag of words (Bag of Words, also referred to as BOW) model, that is, the key frame is matched first, and then the subsequent processing is performed, which brings problems: if the key frame Matching error, the subsequent processing is based on the error, which seriously affects the positioning accuracy; for the environment of large scenes, the original bag of words model will have problems such as slow speed and high error matching rate due to the large map data
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0064] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.
[0065] figure 1 A schematic flow chart of a positioning and mapping method according to an embodiment of the present invention is shown. Such as figure 1 As shown, the method includes:
[0066] Step S110, acquiring a sample image of a designated area, and extracting feature points from the sample image.
[0067] For example, the source of the sample images may be that an image acquisition vehicle cruises along the road and takes...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses a positioning and mapping method and device, a positioning method, a device and a system. The method includes: acquiring a sample image of a designated area, extracting feature points from the sample image; determining the positioning data of each feature point, and saving it; determining the corresponding spatial interval of each feature point according to the positioning data of each feature point; The feature points generate a visual dictionary based on the vocabulary tree, and record the spatial interval corresponding to each feature point in the visual dictionary. This technical solution does not adopt the usual key frame idea. In the preparation stage, the designated area is distinguished, and the subsequent matching can be screened according to the visual dictionary and the spatial interval, which greatly reduces the number of feature points that need to be matched and reduces the error matching. rate, improving the matching rate and efficiency.
Description
technical field [0001] The invention relates to the technical field of visual global positioning, in particular to a positioning and mapping method and device, a positioning method, a device and a system. Background technique [0002] At present, many scenarios need to use navigation functions, such as express delivery, driverless driving and so on. The navigation function is highly dependent on the accuracy and reliability of positioning. There are some deficiencies in the positioning technology in the prior art. The following are some examples: In indoor scenes, laser sensors can be used for positioning, but positioning will occur in poor environmental conditions. Failure and low accuracy; GNSS (Global Navigation Satellite System, Global Navigation Satellite System) in outdoor environments will also fail to locate in scenes such as buildings and dense trees. [0003] Visual global positioning technology is a technology that judges its own position by collecting and analyz...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/73G06K9/46G06K9/62
CPCG06T7/74G06T2207/20081G06V10/464G06F18/28
Inventor 郝立良申浩聂琼
Owner BEIJING SANKUAI ONLINE TECH CO LTD