Pose determination method and device
A pose and relative pose technology, applied in the computer field, can solve the problems of low pose accuracy and large relative pose error.
Active Publication Date: 2021-04-30
BEIJING SANKUAI ONLINE TECH CO LTD
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[0004] However, in the above method, the images searched in the database may not be related to the collected environmental images, resulting in a large error in the relative pose obtained, and ultimately lead to the acquisition of the environment determined by the unmanned equipment. Image time pose accuracy is low
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[0052] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.
[0053] The technical solutions provided by each embodiment of this specification will be described in detail below in conjunction with the accompanying drawings.
[0054] figure 1 The schematic flow chart of the method for determining the pose provided by the embodiment of this specification specifically includes the following steps:
[0055] S100: Acquire environmental image data collect...
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The invention discloses a pose determination method and device. The method comprises the following steps: obtaining environment image data collected by unmanned equipment; for each piece of determined reference image data matched with the environment image data, on the basis of the actual pose corresponding to the reference image data, predicting the pose of the unmanned equipment when the unmanned equipment collects the environment image data; with the pose as a predicted pose of the unmanned equipment under the reference image data and according to the predicted pose of the unmanned equipment under the reference image data and actual poses corresponding to other reference image data, determining pose deviation representation information of the reference image data; and finally, selecting target image data from the reference image data, and determining the pose of the unmanned equipment when the unmanned equipment collects the environment image data. According to the method, the reference image data with the highest accuracy in the reference image data is determined, so that the accuracy of the determined pose of the unmanned equipment during acquisition of the environment image data is effectively improved.
Description
technical field [0001] This description relates to the field of computer technology, and in particular to a method and device for determining a pose. Background technique [0002] At present, in the technical field of unmanned driving, the image collected by the unmanned equipment is usually used to determine the pose data of the unmanned equipment, and then use the determined pose data to plan the path of the unmanned equipment and environmental awareness. [0003] In the prior art, a large number of images collected by a specified acquisition device are stored in the database, and the actual pose corresponding to each image is also recorded in the database. For any image, the actual pose corresponding to the image is Specify the actual pose when the capture device captures the image. Based on this, in the process of determining the pose of the unmanned equipment, the image that is most similar to the environmental image collected by the unmanned equipment can be searched...
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IPC IPC(8): G06T7/73G06F16/583G06K9/62
CPCG06T7/74G06F16/583G06F18/22G06T2207/30252G06T2207/30244
Inventor 田咪聂琼申浩夏华夏
Owner BEIJING SANKUAI ONLINE TECH CO LTD