Heterogeneous binocular slam method, device and electronic equipment

A binocular and heterogeneous technology, applied in the field of simultaneous positioning and map construction, can solve the problem of the depth limit of the detection scene of the homogeneous binocular SLAM system, and achieve the effect of wide viewing angle and improving accuracy and accuracy.

Active Publication Date: 2022-02-01
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this isomorphic binocular SLAM system is limited in detecting the depth of the scene due to the use of isomorphic cameras.

Method used

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  • Heterogeneous binocular slam method, device and electronic equipment
  • Heterogeneous binocular slam method, device and electronic equipment
  • Heterogeneous binocular slam method, device and electronic equipment

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Embodiment Construction

[0015] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0016] Application overview

[0017] As mentioned above, current binocular SLAM systems use isomorphic cameras to capture images or videos. However, in the automatic driving assistance system of a motor vehicle or the navigation system of a drone, it is often necessary to detect items located at different distances from the camera, and the traditional isomorphic binocular camera cannot meet this requirement. Therefore, by using heterogeneous cameras with different viewing angles, images with different depths of field can be captured to detect items at diff...

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Abstract

The present application discloses a heterogeneous binocular SLAM method, including: respectively constructing a first monocular SLAM and a second monocular SLAM for the first monocular camera and the second monocular camera, wherein the first monocular camera and The second monocular camera is a heterogeneous camera; using feature points located in the binocular common field of view of the first monocular camera and the second monocular camera to respectively correct the first monocular SLAM and the The scale of the second monocular SLAM; and performing data fusion on the corrected first monocular SLAM and the second monocular SLAM to construct a binocular SLAM. Also disclosed are a heterogeneous binocular SLAM device, electronic equipment and a non-temporary storage medium. Through the heterogeneous binocular SLAM method of this application, binocular SLAM can be constructed more accurately, and a wider viewing angle and deeper depth of field can be obtained, and items located in different depths of field can be detected, which improves the accuracy and accuracy of binocular SLAM Spend.

Description

technical field [0001] The present application relates to the technical field of Simultaneous Localization and Mapping (SLAM), and more specifically, the present application relates to a heterogeneous binocular SLAM method, a heterogeneous binocular SLAM device and electronic equipment. Background technique [0002] Current binocular SLAM systems use isomorphic cameras to capture images or videos. However, this isomorphic binocular SLAM system is limited in detecting the depth of the scene due to the use of isomorphic cameras. [0003] Therefore, an improved binocular SLAM scheme is needed. Contents of the invention [0004] In order to solve the above-mentioned technical problems, the present application is proposed. Embodiments of the present application provide a heterogeneous binocular SLAM method, a heterogeneous binocular SLAM device, electronic equipment, and a non-transitory storage medium, which can implement processing for different depths of scenes. [0005] ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/32G06V10/75G06K9/62
CPCG01C21/005G01C21/32G06T7/0002G06F18/22
Inventor 杨帅
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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