A High Precision Image Navigation and Positioning Method Based on Local Neighborhood Map
A technology of navigation and positioning, local neighborhood, applied in the field of visual navigation, can solve the problem that the scale information SLAM positioning data is difficult to meet the needs of navigation and positioning, and cannot provide geographic coordinates.
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[0063] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
[0064] A high-precision image navigation and positioning method based on a local neighborhood map, which specifically includes the following two stages;
[0065] Phase 1: Offline map mapping phase:
[0066] Step 1.1: collect raw data;
[0067] Step 1.2: Establish a visual location figure 1 and geographically figure 2 ;
[0068] Step 1.3: Build a visual / geographical coordinate mapping table;
[0069] Phase 2: Navigation and positioning phase:
[0070] Step 2.1: Calculate the position of the current frame image in the visual coordinate system;
[0071] Step 2.2: The extracted neighborhood coordinate mapping table, such as Figure 5 shown;
[0072] Step 2.3: Calculate the parameters of the similar transformation model, and obtain the carrier position information from the parameters
[0073] 1. Offline map surveying stage
[0074] 1.1 Collec...
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