Pose optimization method and device

An optimization method and pose technology, applied in the field of image processing, can solve the problems of large amount of data storage and reduce the efficiency of pose optimization, and achieve the effect of saving storage space and improving efficiency.

Pending Publication Date: 2021-03-05
BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0004] However, the data storage amount of the spatial information of the object

Method used

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  • Pose optimization method and device
  • Pose optimization method and device

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Embodiment Construction

[0044] Hereinafter, exemplary embodiments according to the present application will be described in detail with reference to the accompanying drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described here.

[0045] Application overview

[0046] In order to track and navigate the mobile device, so as to analyze the motion behavior of the mobile device and provide a driving strategy, it is usually necessary to determine the pose of the mobile device. At present, by usually installing sensors (such as cameras, inertial measurement units, etc.) According to the camera calibration results and motion data, the pose of the mobile device is determined. Considering that the accuracy of camera calibration and motion data is not enough, specifically, the error of camera...

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Abstract

The invention discloses a pose optimization method and device, a computer readable storage medium and an electronic device. The method comprises the steps of: obtaining a first pose corresponding to an image collection device which is collecting a current frame image; determining a visual space area corresponding to the first pose; determining space coordinates of map points falling into the visual space area in a vector map; determining feature information of the current frame image; determining a projection error of the map points in the current frame image according to the first pose, the space coordinates of the map points and the feature information; and optimizing the first pose according to the projection error to obtain an optimized first pose. According to the technical scheme, the space information of an object in the image does not need to be recovered, so that the storage space of the electronic equipment is saved, and the pose optimization efficiency is improved.

Description

technical field [0001] The present application relates to the technical field of image processing, and more specifically, to a pose optimization method and device. Background technique [0002] In order to improve localization accuracy, pose optimization is usually required. [0003] In the current pose optimization method, it is mainly based on the spatial information of the object in the pose recovery image, and the pose optimization is performed according to the spatial information of the object in the image. [0004] However, the data storage amount of the spatial information of the object in the restored image is large, resulting in a decrease in the efficiency of pose optimization. Contents of the invention [0005] In order to solve the above-mentioned technical problems, the present application is proposed. Embodiments of the present application provide a pose optimization method, device, computer-readable storage medium, and electronic equipment, through which t...

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Application Information

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IPC IPC(8): G01C21/00G01C21/16
CPCG01C21/005G01C21/165
Inventor 曾丝雨
Owner BEIJING HORIZON ROBOTICS TECH RES & DEV CO LTD
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