Unlock instant, AI-driven research and patent intelligence for your innovation.

Plane fusion positioning method and device, electronic equipment and storage medium

A technology integrating positioning and plane, applied in the field of computer vision, can solve the problems of low positioning accuracy, limited plane accuracy and stability, and achieve the effects of high accuracy, improved accuracy, and reduced estimated and observed values.

Pending Publication Date: 2021-12-17
ZHEJIANG SENSETIME TECH DEV CO LTD
View PDF0 Cites 2 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The construction and optimization of structured planes is a key link in SLAM technology. At present, in terms of structured plane optimization, due to the influence of selected feature points and plane constraints, the accuracy and stability of the generated planes are limited, which will lead to positioning accuracy. lower

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Plane fusion positioning method and device, electronic equipment and storage medium
  • Plane fusion positioning method and device, electronic equipment and storage medium
  • Plane fusion positioning method and device, electronic equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0050] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiment of the application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiment of the application. Obviously, the described embodiment is only It is an embodiment of a part of the application, but not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0051]The terms "comprising" and "having" and any variations thereof appearing in the specification, claims and drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also inclu...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a plane fusion positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: constructing a sparse plane through employing a sparse point cloud obtained based on a current input image frame, and obtaining the first correlation information of a target three-dimensional grid generated by a front end based on the image frame and the sparse plane; obtaining a first point-surface constraint condition according to the first associated information and the current first pose of a carrier; and according to the first point-surface constraint condition, obtaining a re-projection constraint condition and a depth constraint condition based on the image frame and a previous frame of the image frame, and obtaining an optimized value of the first pose. According to the embodiment of the invention, the positioning precision in the SLAM system can be improved.

Description

technical field [0001] The present application relates to the technical field of computer vision, and in particular to a plane fusion positioning method, device, electronic equipment and storage medium. Background technique [0002] With the development of computer vision technology, the research work of SLAM (Simultaneous Localization And Mapping, simultaneous positioning and map construction) technology has made outstanding achievements, and has been widely used in AR (Augmented Reality, augmented reality) or VR (Virtual Reality, virtual reality) ) products, drones, robotics and autonomous driving. The construction and optimization of structured planes is a key link in SLAM technology. At present, in terms of structured plane optimization, due to the influence of selected feature points and plane constraints, the accuracy and stability of the generated planes are limited, which will lead to positioning accuracy. lower. Contents of the invention [0003] Embodiments of ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/70G01C21/00
CPCG06T7/70G01C21/00G06T2207/10028G06T2207/10004
Inventor 王帅陈丹鹏慕翔
Owner ZHEJIANG SENSETIME TECH DEV CO LTD