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Visual odometer method and device, electronic equipment and storage medium

A technology of visual odometry and electronic equipment, applied in the field of visual computing, can solve the problems of excessive calculation and resource consumption, and achieve the effects of accelerating calculation efficiency, reducing quantity and strong robustness

Pending Publication Date: 2020-12-11
HUNAN GOKE MICROELECTRONICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the process of performing feature point matching to obtain the pose, feature point extraction and matching are performed on the entire image, and then BA (Bundle Adjustment, beam adjustment) optimization is performed, which requires a large amount of calculation and consumes resources.

Method used

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  • Visual odometer method and device, electronic equipment and storage medium
  • Visual odometer method and device, electronic equipment and storage medium
  • Visual odometer method and device, electronic equipment and storage medium

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Embodiment Construction

[0030] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

[0031] Such as figure 1 As shown, this embodiment provides an electronic device 1, including: at least one processor 11 and a memory 12, figure 1 Take a processor as an example. The processor 11 and the memory 12 are connected through the bus 10 , the memory 12 stores instructions executable by the processor 11 , and the instructions are executed by the processor 11 .

[0032] In one embodiment, the electronic device 1 can acquire the first image and the second image of the next frame of the first image according to the image frame, perform target detection and tracking on the indoor scene according to the target detection network, and filter out moving objects, and then according to For the tracked target in the feature sample area, the target feature is extracted to calculate the pose data of th...

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Abstract

The invention provides a visual odometer method and device, electronic equipment and a storage medium, and the visual odometer method comprises the steps: obtaining a first image and a second image, wherein the second image is the next frame of image of the first image; training a target detection network, and obtaining a plurality of feature sample regions on the second image by using the targetdetection network; extracting features according to obtained multiple feature sample areas to obtain an optimal feature sample; obtaining a corresponding feature sample matched with the optimal feature sample in the first image; and calculating pose data according to the optimal feature sample and the corresponding feature sample. The problems that in the prior art, a visual odometer needs a largeamount of calculation, and resources are consumed are solved.

Description

technical field [0001] The present application relates to the field of visual computing, in particular, to a visual odometer method, device, electronic equipment and storage medium. Background technique [0002] SLAM (Simultaneous Localization and Mapping, simultaneous positioning and mapping) is one of the most critical technologies in the field of autonomous navigation. It enables the autonomous navigation system to incrementally analyze the surrounding environment based on the information captured by the sensor in an unknown environment. Map building, while at the same time determining its own position in the environment. SLAM is widely used in the fields of self-driving cars, autonomous navigation robots, virtual reality and augmented reality, and is a crucial technology. [0003] Visual odometry (VO) is the front end of SLAM. Its main function is to estimate the motion of the camera based on the captured images and perform real-time positioning. In the process of perf...

Claims

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Application Information

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IPC IPC(8): G06K9/62G06K9/46G06N3/04
CPCG06V10/40G06N3/045G06F18/22G06F18/214
Inventor 徐朋飞唐剑袁涛
Owner HUNAN GOKE MICROELECTRONICS