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Positioning method and device, equipment and storage medium

A positioning method and equipment technology, applied in character and pattern recognition, instruments, computer components, etc., can solve the problems of limited plane accuracy and speed, affect equipment positioning, and cannot build a plane in real time, so as to improve the positioning accuracy.

Active Publication Date: 2021-09-07
ZHEJIANG SENSETIME TECH DEV CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The disadvantages of this method include the limited accuracy and speed of the current real-time plane construction, and the plane cannot be constructed in real time in an environment with weak textures, which affects the positioning of the device

Method used

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  • Positioning method and device, equipment and storage medium
  • Positioning method and device, equipment and storage medium
  • Positioning method and device, equipment and storage medium

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Embodiment Construction

[0033] The solutions of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0034] In the following description, for purposes of illustration rather than limitation, specific details, such as specific system architectures, interfaces, and techniques, are set forth in order to provide a thorough understanding of the present application.

[0035]The term "and / or" in this article is just an association relationship describing associated objects, which means that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist simultaneously, and there exists alone B these three situations. In addition, the character " / " in this article generally indicates that the contextual objects are an "or" relationship. In addition, "many" herein means two or more than two. In addition, the term "at least one" herein means any one of a variety or any combination of at least two of the...

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PUM

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Abstract

The invention discloses a positioning method and device, equipment and a storage medium. The positioning method comprises the following steps: acquiring a priori structured plane constructed by a plurality of image frames; acquiring a current image frame shot by the equipment; determining a first association relationship between a matching feature point pair between the current image frame and at least one historical image frame and a priori structured plane; and obtaining a positioning result of the equipment by using the first association relationship. According to the scheme, the positioning precision of the equipment can be improved.

Description

technical field [0001] The present application relates to the technical field of positioning, and in particular to a positioning method and device, equipment and storage medium. Background technique [0002] Visual positioning technology plays an important role in many fields, such as unmanned driving, robots and so on. Among them, in the visual positioning technology, a structured plane is often used to optimize the positioning result of the device. A structured plane refers to a three-dimensional plane established from constructed three-dimensional points. However, the general approach is to construct a structured plane in real time, and then use the relationship between the structured plane and the 3D points constructed in real time to obtain a more accurate positioning result of the device. The disadvantages of this method include the limited precision and speed of real-time construction of planes, and the inability to construct real-time planes in environments with we...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00
CPCG06F18/00
Inventor 王帅陈丹鹏王楠周立阳章国锋
Owner ZHEJIANG SENSETIME TECH DEV CO LTD