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Positioning method and device, electronic equipment and storage medium

A positioning method and technology of image acquisition equipment, applied in the field of computer vision, can solve the problems of sparse three-dimensional feature points, low positioning accuracy, low pose solution accuracy, etc., and achieve the effect of improving pose accuracy and positioning accuracy.

Pending Publication Date: 2020-08-21
ZHEJIANG SENSETIME TECH DEV CO LTD
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AI Technical Summary

Problems solved by technology

[0003] The related technology pre-constructs a 3D point cloud map. When a user initiates a positioning request, feature points are extracted from the image taken by the user and matched with the 3D feature points in the 3D point cloud map, so as to solve the pose of the image acquisition device according to the matching result ( The pose includes the position and rotation of the image acquisition device in the specified coordinate system), and then the positioning is completed according to the pose of the image acquisition device, but because the 3D feature points in the 3D point cloud map are sparse, and in larger-scale scenes, There are multiple similar 3D feature points in the 3D point cloud, which will lead to low accuracy of the pose solution of the image acquisition device, which in turn leads to low positioning accuracy

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  • Positioning method and device, electronic equipment and storage medium
  • Positioning method and device, electronic equipment and storage medium
  • Positioning method and device, electronic equipment and storage medium

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Embodiment Construction

[0061] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the figures indicate functionally identical or similar elements. While various aspects of the embodiments are shown in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0062] The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or better than other embodiments.

[0063] The term "and / or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the term "at least one" herein mean...

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Abstract

The invention relates to a positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: carrying out the feature point matching of an image collected by image collection equipment with an offline map corresponding to an area where the image collection equipment is located, and obtaining a feature point matching pair which comprises a three-dimensional matching pair and a two-dimensional matching pair; and determining the pose of the image acquisition device according to the feature point matching pair. According to the embodiment of the invention, the positioning precision can be improved.

Description

technical field [0001] The present disclosure relates to the technical field of computer vision, and in particular to a positioning method and device, electronic equipment, and a storage medium. Background technique [0002] Vision-based positioning is widely used in indoor and outdoor navigation and AR (Augmented Reality, Augmented Reality). [0003] The related technology pre-constructs a 3D point cloud map. When a user initiates a positioning request, feature points are extracted from the image taken by the user and matched with the 3D feature points in the 3D point cloud map, so as to solve the pose of the image acquisition device according to the matching result ( The pose includes the position and rotation of the image acquisition device in the specified coordinate system), and then the positioning is completed according to the pose of the image acquisition device, but because the 3D feature points in the 3D point cloud map are sparse, and in larger-scale scenes, Ther...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F16/29G06T7/73G06T19/00
CPCG06F16/29G06T7/73G06T19/003G06T19/006
Inventor 李晨刘浩敏黄晓鹏
Owner ZHEJIANG SENSETIME TECH DEV CO LTD
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