Pose information determination method and device and electronic equipment
A technology of pose information and determination method, applied in the field of computer vision, can solve the problems of high computational cost, low practicability, and large amount of computation, and achieve the effect of optimizing pose information
Active Publication Date: 2020-05-12
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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Problems solved by technology
In the existing technology, based on traditional high-precision digital maps and high-precision sensors (usually relatively expensive lidar and high-end integrated navigation systems), real-time data is collected through high-precision sensors and matched with high-precision digital maps, so that To obtain high-precision positioning, however, this method requires point matching, a large amount of calculation, high calculation cost and low practicability
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[0017] 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.
[0018] Application overview
[0019] As mentioned above, existing high-precision positioning methods have the following problems:
[0020] 1) The supporting equipment is complex and expensive. Whether it is GPS positioning, AGPS positioning, base station positioning, WIFI positioning, etc., expensive supporting facilities are required. Even the traditional high-precision map positioning method also requires high-end integrated navigation systems and expensive lasers High-cost equipment such as radar;
[0021] 2) The positioning accuracy is poor. Due to th...
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The invention discloses a pose information determination method and device, electronic equipment and a computer readable storage medium. According to one embodiment, the pose information determinationmethod comprises the following steps: matching a marker in a current frame image acquired by image acquisition equipment with a marker in a vectorized map; when the marker in the current frame imageis successfully matched with the marker in the vectorized map, determining an observation bounding box of the successfully matched marker in the current frame image; and determining pose information of the image acquisition device based on the observation bounding box and the representation of the marker in the vectorized map. By adopting the pose information determination method, the pose information of the image acquisition equipment can be optimized by matching the representation of the marker in the current frame image with the representation of the marker in the vectorized map.
Description
technical field [0001] The present application relates to the field of computer vision, and in particular, the present application relates to a method for determining pose information, a device for determining pose information, electronic equipment, and a computer-readable storage medium. Background technique [0002] In the case of unmanned driving, unmanned vehicles often need to locate their own position and orientation information (ie, pose information) in real time. In the existing technology, based on traditional high-precision digital maps and high-precision sensors (usually relatively expensive lidar and high-end integrated navigation systems), real-time data is collected through high-precision sensors and matched with high-precision digital maps, so that To obtain high-precision positioning, however, this method requires point matching, which requires a large amount of calculation, high calculation cost and low practicality. Contents of the invention [0003] In ...
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Login to View More IPC IPC(8): G06T7/70
CPCG06T7/70
Inventor 杨帅
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD