Map segmentation method and device, pose estimation method and equipment terminal

Abstract

The invention relates to a map segmentation method and device, a pose estimation method and an equipment terminal. The map segmentation method comprises the following steps: segmenting a map; acquiring map point data and constructing a corresponding point graph according to the map point data, wherein the point graph comprises nodes formed by map points and corresponding edges; measuring and estimating a to-be-estimated state variable corresponding to each node in the point diagram, and obtaining corresponding measurement and estimation values, wherein the to-be-estimated state variables comprise homogeneous coordinates of the nodes and corresponding sensor when the nodes are acquired; calculating the inter-point correlation between any two adjacent nodes in the point graph according to the measurement and estimation values; judging whether the inter-point correlation is smaller than a preset correlation threshold value or not; when the correlation between the points is smaller than apreset correlation threshold value, removing the edges corresponding to the corresponding adjacent nodes so that the static points and the dynamic points can be separated to complete map segmentation.The map segmentation method eliminates the influence of the dynamic points, and a foundation is laid for subsequent pose estimation.

Description

technical field [0001] The present invention relates to the field of image processing, in particular to a map segmentation method, device, pose estimation method and equipment terminal. Background technique [0002] Vision-based pose estimation methods can use time-series images to estimate the sensor’s six-degree-of-freedom pose. However, the application scenarios of the above-mentioned pose estimation methods are strictly limited by static environment assumptions. In practical applications, visual pose estimation methods based on static environment assumptions will degrade the estimation accuracy due to the existence of moving interfering objects in the field of view. Contents of the invention [0003] In view of this, the present invention provides a map segmentation method, device, pose estimation method, and device terminal. For a map containing dynamic scenes, the distributed correlation between static points can be used, and there is no difference between dynamic po...

AI Technical Summary

Problems solved by technology

[0002] Vision-based pose estimation methods can use time-series images to estimate the six-degree-of-freedom pose of the sensor. However, the application scenarios of the above-mentioned pose estimation methods are strictly limited by the static environment assumption.

In practical applications, the visual pose estimation method based on the static environment assumption will reduce the estimation accuracy due to the presence of moving interfering objects in the field of view.

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