Positioning method, device, storage medium and electronic equipment
A positioning method and pose information technology, applied in the field of positioning, can solve problems such as low positioning accuracy, inability to ensure safe and accurate operation of equipment, and inability of equipment to accurately judge the current location, so as to improve accuracy and ensure safety and precision running effect
Active Publication Date: 2022-05-17
CLOUDMINDS SHANGHAI ROBOTICS CO LTD
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Problems solved by technology
If the positioning accuracy is not high, the device cannot accurately judge its current location, so that the safe and accurate operation of the device cannot be guaranteed
Method used
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[0018] Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure.
[0019] The positioning method provided in the present disclosure can be applied to terminal devices such as robots, unmanned aerial vehicles, and unmanned vehicles, and can also be applied to servers, such as positioning management servers, cloud servers, and the like. When the positioning method is applied to the server, the terminal device can send data such as images collected to the server, and the server performs subsequent processing to locate the terminal device, and returns the positioning information to the terminal device.
[0020] It is worth noting that since the camera is integrated on a terminal device such as a robot, in the following introduct...
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The disclosure relates to a positioning method, device, storage medium and electronic equipment. The method includes: obtaining the first pose information of the camera in the map coordinate system at the current moment; wherein, the map coordinate system is a coordinate system of a pre-established point cloud map, and the point cloud map includes a map of the current environment where the camera is located; obtaining The first point cloud data of the current image collected by the camera at the current moment in the map coordinate system; according to the first pose information, extract the local point cloud map from the point cloud map; according to the first point cloud data and the local point cloud The map determines the pose change information of the camera; the first pose information is corrected according to the pose change information to obtain the target pose information of the camera at the current moment, and the camera is positioned according to the target pose information. Through the above technical solution, the camera can be positioned more accurately, effectively improving the positioning accuracy, and ensuring the safe and accurate operation of robots and other equipment integrated with the camera.
Description
technical field [0001] The present disclosure relates to the technical field of positioning, and in particular, to a positioning method, device, storage medium, and electronic equipment. Background technique [0002] Robots, unmanned aerial vehicles, unmanned vehicles and other equipment are more and more widely used in distribution, logistics and other fields. Robots and other equipment rely on high-precision positioning technology support. In related technologies, robots and other equipment generally use visual positioning technology for positioning. Visual positioning technology collects images of the environment in which the equipment is located through the camera integrated in the equipment, and obtains the position through the images. How the information is located. If the positioning accuracy is not high, the device cannot accurately judge its current location, so that the safe and accurate operation of the device cannot be guaranteed. Contents of the invention ...
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IPC IPC(8): G01B11/00G01C11/04
CPCG01B11/002G01C11/04
Inventor 不公告发明人
Owner CLOUDMINDS SHANGHAI ROBOTICS CO LTD