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Navigation method and device, electronic equipment and readable storage medium

A navigation method and equipment technology, applied in the field of navigation, can solve problems such as small amount of calculation, large amount of calculation, impact on accuracy, etc., and achieve the effect of reducing calculation complexity and improving calculation accuracy

Inactive Publication Date: 2021-10-01
BEIJING SANKUAI ONLINE TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the commonly used loosely coupled method uses IMU information for state prediction, then uses vision to estimate the pose between frames, and updates the pose as an EKF (Extended Kalman Filter, Extended Kalman Filter). A source of information, the amount of calculation is small, but some information will be lost, so the accuracy will be affected
Optimization-based tightly coupled methods usually maintain a local window to constrain the computational complexity within a certain range, but due to multiple iterations in the process of minimizing the objective function, the computational load is large

Method used

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  • Navigation method and device, electronic equipment and readable storage medium
  • Navigation method and device, electronic equipment and readable storage medium
  • Navigation method and device, electronic equipment and readable storage medium

Examples

Experimental program
Comparison scheme
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Embodiment 1

[0066] refer to figure 1 , shows a flowchart of steps of a navigation method provided by an embodiment of the present disclosure, as shown in figure 1 As shown, the navigation method may specifically include the following steps:

[0067] Step 101: During the driving process of the automatic driving device, acquire the target image captured by the target camera at the current time; the target camera is a camera set on the automatic driving device.

[0068] The embodiments of the present disclosure can be applied to a system for navigating an automatic driving device based on image feature information collected in a key frame window.

[0069] In this embodiment, the automatic driving device is also an unmanned device. In practical applications, the autonomous driving device can be a vehicle driving on the ground (such as a car, truck, bus, etc.), it can also be a vehicle driving in the air (such as a drone, an airplane, a helicopter, etc.), or it can be a vehicle driving on wa...

Embodiment 2

[0133] refer to figure 2 , shows a flow chart of steps of another navigation method provided by an embodiment of the present disclosure, as shown in figure 2 As shown, the navigation method may specifically include the following steps:

[0134] Step 201: During the driving process of the automatic driving device, acquire the target image captured by the target camera at the current time; the target camera is a camera set on the automatic driving device.

[0135] The embodiments of the present disclosure can be applied to a system for navigating an automatic driving device based on image feature information collected in a key frame window.

[0136] In this embodiment, the automatic driving device is also an unmanned device. In practical applications, the autonomous driving device can be a vehicle driving on the ground (such as a car, truck, bus, etc.), it can also be a vehicle driving in the air (such as a drone, an airplane, a helicopter, etc.), or it can be a vehicle driv...

Embodiment 3

[0205] refer to image 3 , which shows a schematic structural diagram of a navigation device provided by an embodiment of the present disclosure, as shown in image 3 As shown, the navigation device 300 may specifically include the following modules:

[0206] The target image acquisition module 310 is used to obtain the target image collected by the target camera at the current time during the driving process of the automatic driving device; the target camera is a camera arranged on the automatic driving device;

[0207] A target image determination module 320, configured to determine whether the target image is a key frame image according to the target image feature information corresponding to the target image;

[0208] The key frame window determination module 330 is used to determine the key frame window of the target size according to the imaging parameters of the target camera when the target image is a key frame image;

[0209] The first navigation result acquisition ...

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Abstract

An embodiment of the invention provides a navigation method and device, electronic equipment and a readable storage medium. The navigation method comprises the following steps of: acquiring a target image acquired by a target camera at the current time in the advancing process of automatic driving equipment, wherein the target camera is a camera arranged on the automatic driving equipment; determining whether the target image is a key frame image according to target image feature information corresponding to the target image; under the condition that the target image is a key frame image, determining a key frame window with a target size according to camera shooting parameters of the target camera; and based on the image feature information collected by the key frame window, carrying out correction processing on a resolving result of the navigation system to obtain a navigation result of the navigation system. According to the navigation method and device of the invention, the calculation precision of the navigation system can be improved.

Description

technical field [0001] The embodiments of the present disclosure relate to the technical field of navigation, and in particular, to a navigation method, device, electronic equipment, and readable storage medium. Background technique [0002] Motion estimation combined with vision and inertial measurement unit (IMU, Inertial Measurement Unit) has always been a common positioning method in the field of mobile robots, and is also a common positioning scheme in unmanned and unmanned aerial vehicles. Accurate self-location is essential for mobile robots Path planning, obstacle avoidance, etc. all play an important role. [0003] At present, the commonly used loosely coupled method uses IMU information for state prediction, then uses vision to estimate the pose between frames, and updates the pose as an EKF (Extended Kalman Filter, Extended Kalman Filter). An information source, the amount of calculation is small, but some information will be lost, so the accuracy will be affecte...

Claims

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Application Information

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IPC IPC(8): G01C21/20
CPCG01C21/20
Inventor 胡佳欣郎小明臧波
Owner BEIJING SANKUAI ONLINE TECH CO LTD