Visual navigation guide point marking method and device and computer equipment

A technology of visual navigation and marking method, which is applied to computer parts, calculations, motor vehicles, etc., and can solve problems such as poor consistency and low efficiency of guide point acquisition

Active Publication Date: 2020-10-23
NAT UNIV OF DEFENSE TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] Based on this, it is necessary to address the above-mentioned technical problems and provide a method, device, computer equipment and storage medium for marking guide points for visual navigation that can solve the problems of low guide point acquisition efficiency and poor consistency

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  • Visual navigation guide point marking method and device and computer equipment
  • Visual navigation guide point marking method and device and computer equipment
  • Visual navigation guide point marking method and device and computer equipment

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Embodiment Construction

[0055] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0056] A method for marking guide points for visual navigation provided by this application can be applied in the following application environments, where sequential image information is collected by a manually driven vehicle or a remote-controlled vehicle, and the first target point is selected in the first image of the sequential image , select a plurality of feature points in the neighborhood of the first target point to form the first feature point set, match the first feature point set in the second image to obtain the corresponding second feature point set, according...

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Abstract

The invention relates to a visual navigation guide point marking method and device, computer equipment and a storage medium. The method comprises the following steps of: acquiring sequential image information acquired from the environment when an unmanned vehicle runs, and determining a first target point in a first image according to a preset rule, performing calculation through image feature matching and affine coordinate transformation to obtain a second target point, projected to a second image, of the target point of the first image, using the second target point as a guide point of the second image, and acquiring a control strategy when no person performs autonomous navigation in the scene according to the guide point. By adopting the method, the guide points corresponding to a series of images can be automatically generated, manual marking is avoided, and the method has the advantages of high efficiency and good consistency.

Description

technical field [0001] The present application relates to the technical field of unmanned driving, and in particular to a method, device, computer equipment and storage medium for marking guide points for visual navigation. Background technique [0002] As an emerging technology combining artificial intelligence and automation technology, unmanned driving technology has gradually become an important driving force to promote the upgrading of the automobile industry and the penetration of robot technology into ordinary people's homes. At the same time, unmanned driving technology has many important applications in important fields such as aerospace and navigation. [0003] The guide point is the position that the unmanned vehicle is expected to reach at some point in the future when controlling the unmanned vehicle. The preview control method based on the guide point is to calculate the control strategy of the next behavior of the unmanned vehicle according to the position of...

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Application Information

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IPC IPC(8): G05D1/02G06K9/00G06K9/46
CPCG05D1/0253G05D1/0223G05D1/0221G05D1/028G05D1/0276G06V20/10G06V10/44
Inventor 吴涛徐锦江史美萍付浩
Owner NAT UNIV OF DEFENSE TECH
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