Positioning method and device, electronic equipment and computer readable storage medium

Abstract

The embodiment of the invention discloses a positioning method, and the method comprises the steps: obtaining a to-be-positioned image, carrying out the pose recognition of the to-be-positioned image,and obtaining the initial pose information of electronic equipment during the collection of the to-be-positioned image; determining a semantic consistency weight value of a reference image corresponding to the to-be-positioned image, wherein the reference image is an image which is collected by the electronic equipment and is adjacent to the to-be-positioned image, the semantic consistency weightvalue is used for representing the similarity between the reference semantic information of the reference image and the first semantic information of the first image, and the first image is an imagematched with the reference image in a scene map of a scene where the electronic equipment is located; if the semantic consistency weight value of the reference image is greater than the weight threshold, determining target pose information of the electronic equipment when the to-be-positioned image is acquired based on the related information and the initial pose information of the reference image. The embodiment of the invention further discloses a positioning device, electronic equipment and a computer readable storage medium.

Description

technical field [0001] The present application relates to the technical field of image processing, and in particular to a positioning method and device, electronic equipment, and a computer-readable storage medium. Background technique [0002] Simultaneous localization and mapping (SLAM) technology is a technology for electronic devices to realize their own positioning and environment map construction based on sensor information. It has a wide range of applications in the fields of robots, drones, unmanned driving, and virtual reality. . [0003] At present, the positioning results of traditional SLAM positioning methods will be affected by changes in illumination, environment, and texture. In the case of high light intensity and weak image texture, positioning failures will occur. The positioning method based on the neural network can estimate the pose information of the electronic device, but the pose information estimated based on the neural network has a large error wi...

AI Technical Summary

Problems solved by technology

[0003] At present, the positioning results of traditional SLAM positioning methods will be affected by changes in illumination, environment, and texture. In the case of high light intensity and weak image texture, the problem of positioning failure will occur.

The positioning method based on the neural network can estimate the pose information of the electronic device, but the pose information estimated based on the neural network and the pose information of the actual electronic device have a large error, which is difficult to meet the actual application requirements.

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