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Fusion frame obtaining method and device, SLAM system and storage medium

A technology for fusing frames and matching features, which is applied in image enhancement, image analysis, instruments, etc., and can solve problems such as poor accuracy of fused frames

Pending Publication Date: 2021-03-05
PENG CHENG LAB +1
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Problems solved by technology

[0004] The main purpose of the present invention is to provide a fusion frame acquisition method, device, SLAM system and storage medium, aiming to solve the technical problem of poor accuracy of fusion frames in the prior art

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  • Fusion frame obtaining method and device, SLAM system and storage medium
  • Fusion frame obtaining method and device, SLAM system and storage medium
  • Fusion frame obtaining method and device, SLAM system and storage medium

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Embodiment Construction

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0055] refer to figure 1 , is a schematic structural diagram of the SLAM system of the hardware operating environment involved in the solution of the embodiment of the present invention.

[0056] Generally, a SLAM system includes: a camera 307, at least one processor 301, a memory 302, and a fusion frame obtaining program stored on the memory and operable on the processor, the fusion frame obtaining program is configured to implement the above The st...

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Abstract

The invention discloses a fusion frame obtaining method, and the method comprises the following steps: obtaining N target images of a target region through N cameras, N being a positive integer greater than or equal to 2; performing feature extraction on the N target images to obtain a feature point set; obtaining a hash table based on the feature point set; obtaining a map point set based on thehash table; obtaining a description subset based on the hash table; and obtaining a fusion frame based on the hash table, the map point set and the description subset. The invention further disclosesa fusion frame obtaining device, an SLAM system and a storage medium. The fusion frame obtained through the method comprises more visual feature information, so that the accuracy of the fusion frame is better.

Description

technical field [0001] The present invention relates to the field of feature information processing, in particular to a fusion frame acquisition method, device, SLAM system and storage medium. Background technique [0002] At present, the mainstream visual SLAM (English: simultaneous localization and mapping, Chinese: instant positioning and map construction) systems include monocular cameras, stereo vision cameras or depth color cameras. The SLAM system obtains the target images at different moments in the target area through the monocular camera, and obtains the fusion frame by fusion processing the target images. [0003] However, when the fusion frame is obtained by existing methods, the accuracy of the fusion frame is poor. Contents of the invention [0004] The main purpose of the present invention is to provide a fusion frame acquisition method, device, SLAM system and storage medium, aiming to solve the technical problem of poor accuracy of fusion frames in the pr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T5/50
CPCG06T5/50G06T2207/10004G06T2207/20221
Inventor 陈俊宏王维翰何震宇田第鸿柳伟
Owner PENG CHENG LAB
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