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Map construction method and device

A map construction and map technology, applied in the field of computer vision, can solve problems such as low positioning accuracy

Active Publication Date: 2022-08-09
HANGZHOU HIKVISION DIGITAL TECH
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  • Abstract
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Problems solved by technology

[0004] This application provides a map construction method and device, which can solve the problem of low positioning accuracy in related technologies

Method used

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  • Map construction method and device
  • Map construction method and device

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Embodiment Construction

[0153] In order to make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0154] Before the detailed explanation of the map construction method provided by the embodiment of the present application, the execution body of the map construction method provided by the embodiment of the present application is introduced.

[0155] The map construction method provided in this embodiment of the present application may be executed by a smart mobile device. As an example, the smart mobile device may be an intelligent robot, an autonomous vehicle, or the like.

[0156] As an example, see figure 1 , the smart mobile device may include an image acquisition device 101 and a processor 102 . Image capture device 101 may be used to capture images. The processor 102 is configured to process the collected images, construct a gl...

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Abstract

This application discloses a map construction method and device, which belongs to the field of computer vision technology.The method includes: determine the characteristic point information, feature line information and structural line information of the current image frame.Based on the structural line information of the current image frame and the structural line information of the reference image frame, the first posture information corresponding to the current image frame is determined.Based on the characteristic point information and feature line information of the current image frame, the map point information and map line information corresponding to the previous image frame, and the first posture information, determine the position corresponding to the current image frame that includes at least the second posture information.If the error between the first posture and the second posture information is greater than the second threshold, determine the current image frame as the key image frame, based on the first posture information and position, determine the third posture information of all key image frames in the global mapThe corresponding map point and map line.In this way, the accuracy of positioning can be improved.

Description

technical field [0001] The present application relates to the technical field of computer vision, and in particular, to a map construction method and device. Background technique [0002] The purpose of the SLAM (simultaneous localization and mapping, real-time localization and map construction) algorithm is to allow intelligent mobile devices including image acquisition devices to construct a global map of the environment in real time and locate itself in an unknown environment. In the related art, the image acquisition device can collect images, and then extract feature point information and feature line information in the current image frame, based on the feature point information and feature line information, and the map point information and map line information corresponding to the previous image frame, Determine the pose corresponding to the current image frame, that is, the position and the pose. If the current image frame is a key image frame, you can create a new ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/32
CPCG01C21/32
Inventor 张纯秦延文宋江新毛慧浦世亮
Owner HANGZHOU HIKVISION DIGITAL TECH
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