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Pose optimization method, pose optimization device, storage medium and electronic equipment

An optimization method and pose technology, applied in the field of computer vision, can solve the problem that pose tracking accuracy is affected by the environment, etc.

Pending Publication Date: 2021-01-29
GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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Problems solved by technology

[0004] The present disclosure provides a pose optimization method, a pose optimization device, a computer-readable storage medium, and an electronic device, thereby improving at least to a certain extent the problem in the related art that the pose tracking accuracy is greatly affected by the environment

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  • Pose optimization method, pose optimization device, storage medium and electronic equipment
  • Pose optimization method, pose optimization device, storage medium and electronic equipment
  • Pose optimization method, pose optimization device, storage medium and electronic equipment

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Embodiment Construction

[0026]Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms, and should not be construed as being limited to the examples set forth herein; on the contrary, the provision of these embodiments makes the present disclosure more comprehensive and complete, and fully conveys the concept of the example embodiments To those skilled in the art. The described features, structures or characteristics can be combined in one or more embodiments in any suitable way. In the following description, many specific details are provided to give a sufficient understanding of the embodiments of the present disclosure. However, those skilled in the art will realize that the technical solutions of the present disclosure can be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. can be used. In other cases, the known technical solutions are no...

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Abstract

The invention provides a pose optimization method, a pose optimization device, a computer readable storage medium and electronic equipment, and relates to the technical field of computer vision. The pose optimization method comprises the steps: acquiring multiple frames of scene images collected for a target scene; processing the first image sequence through a pose estimation model to obtain an image relative pose of the first image sequence; optimizing the image relative pose of the second image sequence by using the pose of the reference image in the scene image and the image relative pose of the first image sequence; and updating the pose of the scene image in the second image sequence according to the optimized image relative pose of the second image sequence. According to the method,the sensitivity of pose tracking to environmental changes is reduced, and the algorithm robustness and pose precision are improved.

Description

Technical field[0001]The present disclosure relates to the field of computer vision technology, and in particular to a pose optimization method, a pose optimization device, a computer-readable storage medium, and electronic equipment.Background technique[0002]In scenes such as SLAM (Simultaneous Localization And Mapping, simultaneous positioning and mapping), visual navigation, etc., the camera pose is usually tracked when the scene image is taken, so that the scene image can be matched with a three-dimensional map for further mapping or navigation And other functions.[0003]However, the accuracy of pose tracking is very sensitive to changes in the environment. Unconventional situations such as strong lighting changes, weak texture environments, and violent camera movements may result in a large deviation between the pose results and the actual situation, affecting positioning and mapping accuracy.Summary of the invention[0004]The present disclosure provides a pose optimization metho...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06T7/11G06N3/04G06N3/08
CPCG06T7/75G06T7/11G06N3/08G06T2207/10016G06T2207/20081G06T2207/20084G06T2207/30244G06N3/044G06N3/045
Inventor 樊欢欢李姬俊男
Owner GUANGDONG OPPO MOBILE TELECOMM CORP LTD
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