Map generation method, positioning method and system thereof, and computer-readable storage medium
A map generation and map technology, applied in the field of computer computing, can solve the problems that the visual map generation system is difficult to build a large-scale visual map, the map positioning system has high computational complexity and is difficult to locate quickly, etc. Generation and positioning, the effect of reducing positioning delay
Active Publication Date: 2022-05-24
SHICHEN INFORMATION TECH SHANGHAI CO LTD
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[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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[0088] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of this application.
[0089] The singular forms "a" and "the" include plural referents unless the context clearly dictates otherwise. As used in this application, the terms "first" and "second" are used interchangeably to distinguish one or one class of components from another or another class, respectively, and are not intended to denote the location of individual ...
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The invention provides a map generating method, a positioning method and a system thereof, and a computer-readable storage medium. The map generation method includes: extracting global features and local features for each target scene picture, using a motion restoration structure algorithm to process the local features corresponding to each target scene picture, obtaining a 3D point cloud of the target scene picture, and forming a target scene The map file of the global feature; the map file of the global feature and the local features therein have a data correspondence. The map positioning method includes: extracting the global features and local features of the photographed pictures to be located; matching the local features of the photographed pictures to be located with the local features corresponding to the closest global features to obtain the final matched local features and their three-dimensional point cloud ; Obtain the device pose based on the local features of the positioning image and the matched 3D point cloud data. The invention can improve map positioning efficiency and reduce map data calculation amount.
Description
technical field [0001] The present invention relates to the field of computer computing, in particular to a map generation method, a positioning method and a system thereof, and a computer-readable storage medium. Background technique [0002] The map positioning system is the basis for realizing technologies such as robot navigation, augmented reality (AR), automatic cruise, and automatic driving. Positioning can be used to find matching points in the constructed map to confirm the current location. The map positioning system has been developed for many years, and its technical solution principles can be summarized as: visual map generation technology and visual map positioning technology. [0003] The most common visual map generation technology is completed by the structure-from-motion technology, which mainly includes: taking pictures of the scene, extracting image features for matching, triangulating to obtain three-dimensional points in space, and finally using bundles...
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IPC IPC(8): G06T7/73G06F16/29
CPCG06T7/73G06F16/29G06T2207/10028
Inventor 刘力张小军
Owner SHICHEN INFORMATION TECH SHANGHAI CO LTD