Map generation method, positioning method and system, and computer readable storage medium

Abstract

The invention provides a map generation method, a positioning method and system, and a computer readable storage medium. The map generation method comprises the following steps: extracting global features and local features of each target scene picture, processing the local features corresponding to each target scene picture by using a motion recovery structure algorithm to obtain a three-dimensional point cloud of the target scene picture, and forming a map file of a target scene, wherein the global features, the map file and the local features in the map file have a data correspondence relationship. The map positioning method comprises the following steps: extracting global features and local features of a to-be-positioned shot picture; matching the local feature of the to-be-positioned shot picture with the local feature corresponding to the closest global feature to obtain a finally matched local feature and a three-dimensional point cloud thereof; and obtaining the equipment pose based on the local features of the positioning picture and the matched three-dimensional point cloud data. The map positioning efficiency can be improved, and the map data calculation amount is reduced.

Description

technical field [0001] The present invention relates to the field of computer computing, in particular to a map generating method, a positioning method and its system, and a computer-readable storage medium. Background technique [0002] The map positioning system is the basis for realizing robot navigation, augmented reality (AR), automatic cruise, automatic driving and other technologies. Positioning can be to find matching points in the constructed map, and then confirm the current location. The map positioning system has been developed for many years, and its technical scheme principles can be summarized as: visual map generation technology and visual map positioning technology. [0003] The most common visual map generation technology is accomplished through the technology of structure-from-motion, which mainly includes: taking pictures of the scene, extracting image features for matching, performing triangulation to obtain three-dimensional points in space, and finally...

AI Technical Summary

Problems solved by technology

[0007] The technical problems solved by the technical solution of the present invention are: the visual map generation system in the prior art is difficult to build a large-scale visual map, and the map positioning system has high computational complexity and is difficult to quickly locate

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