Positioning method and positioning equipment

Abstract

The embodiment of the invention discloses a positioning method and equipment. The method comprises the steps: obtaining a collected image which is a weak texture image collected by a marching device;obtaining N frames of historical images similar to the image features of the collected images, N being a positive integer greater than or equal to 2; obtaining an optical flow point pair between eachframe of historical image and the acquired image; obtaining a target historical image from the N frames of historical images according to the optical flow point pairs; obtaining a target position where the marching device is located when the target historical image is collected; estimating a first parameter according to the target historical image and the acquired image, the first parameter beingcharacterized by a relative position relationship between a position where a marching device is located and the target position when the acquired image is acquired; and according to the target position and the first parameter, locating the position of the marching device when the marching device collects the collected image.

Description

technical field [0001] The present application relates to positioning technology, in particular to a positioning method and equipment. Background technique [0002] Augmented Reality (AR, Augmented Reality) or Virtual Reality (VR, Virtual Reality) equipment can travel along with the wearer, and when it is in an unknown environment, it can obtain motion information and surrounding environment information through sensors, based on The obtained environmental information is used to construct a map of its traveling environment, and to locate the position of the AR or VR device in its environment. This positioning method is more suitable for the environment where the traveling environment is a scene environment with strong textures. The objects or object attributes in the traveling environment are not single or monotonous. Differential multiple objects. Due to the differences of these objects in the traveling environment in the above aspects, the position of the AR or VR device ...

AI Technical Summary

Problems solved by technology

For the traveling environment with weak texture scene environment, such as an empty factory building or warehouse, a factory building or warehouse with a single storage object or a relatively single object attribute

In the case where the traveling environment is a scene with weak textures, if the aforementioned solution is still used to locate the device, the positioning result will be inaccurate

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