Method and system for recovering monocular SLAM scale through detection and calibration

A technique for detecting algorithms and scales

Inactive Publication Date: 2021-02-09
的卢技术有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the scale can be restored through the height of the camera and the information of the road. The existing scale restoration technology relies on the accuracy of road sign recognition and road geometric model calculation. The calculation is complex and large, and needs to be improved.

Method used

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  • Method and system for recovering monocular SLAM scale through detection and calibration
  • Method and system for recovering monocular SLAM scale through detection and calibration
  • Method and system for recovering monocular SLAM scale through detection and calibration

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Embodiment 1

[0034] refer to figure 1 The schematic diagram is a method for recovering the monocular SLAM scale through detection and calibration proposed in this embodiment. In order to solve the problems of complex monocular SLAM scale recovery methods in the prior art and large amount of operation and calculation, this embodiment It is proposed to restore the monocular SLAM scale through the method of calibration and detection, which reduces the amount of calculation and complexity, and makes the monocular SLAM scale recovery easier to achieve.

[0035] More specifically, the method for recovering the monocular SLAM scale through detection and calibration proposed in this embodiment includes the following steps,

[0036] S1: Calibrate the camera through the calibration module 100;

[0037] Among them, the camera calibration can use the pinhole camera model, and use Zhang Youzheng's camera calibration method for calibration. Specifically, refer to figure 2 The calibration also includ...

Embodiment 2

[0067] refer to Figure 6 To illustrate, in order to realize the above-mentioned method of recovering the monocular SLAM scale through detection and calibration, this embodiment proposes a system for recovering the monocular SLAM scale through detection and calibration. Specifically, the system includes a calibration module 100 , a calculation module 200 , a detection module 300 and a scale restoration module 400 . Among them, the calibration module 100 is used to calibrate the camera; the calculation module 200 is used to calculate the depth of the point on the plane from the camera; the detection module 300 can detect the marker; the scale restoration module 400 is used to restore the monocular SLAM scale .

[0068] It should be appreciated that embodiments of the invention may be realized or implemented by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods can be implement...

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Abstract

The invention discloses a method and system for recovering a monocular SLAM scale through detection and calibration, and the method comprises the following steps: a camera is calibrated by a calibration module; a calculation module calculates the depth of the point distance camera on the plane; a detection module is used for detecting the marker based on deep learning; and a scale recovery moduleperforms SLAM back-end optimization to obtain the scale of the monocular SLAM. The invention has the advantages that the calibration and detection method is adopted for scale recovery, the markers areplaced on the road for scale recovery, and the calculated amount and complexity of the algorithm are greatly reduced.

Description

technical field [0001] The present invention relates to the technical field of computer vision, in particular to a method and system for restoring monocular SLAM scale through detection and calibration. Background technique [0002] Monocular SLAM refers to the method of using a camera for SLAM. The data of the monocular camera is a photo. The photo is a projection left on the imaging plane of the camera when the scene is taken. It reflects the three-dimensional world in two-dimensional form. , a dimension is lost in this process, and the distance of objects in the scene cannot be calculated through a single photo, so scale restoration must be performed. [0003] At present, the scale can be restored through the height of the camera and the information of the road. The existing scale restoration technology relies on the accuracy of road sign recognition and road geometric model calculation. The calculation is complex and large, and needs to be improved. Contents of the inv...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/536G06T7/73G06T7/80G06N3/04G06N3/08
CPCG06T7/536G06T7/73G06T7/80G06N3/08G06N3/045
Inventor 陈丹丹梁田园
Owner 的卢技术有限公司
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