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 steps of aligning a visual positioning map to a spatial geographic coordinate system, and calculating position information of each key frame in the spatial geographic coordinate system; and calculating azimuth angle information of each key frame relative to the spatial geographic coordinate system by using the position information and the main optical axis so as to obtain orientation information of the key frames. The map positioning method comprises the following steps: acquiring second attribute information and image features of a to-be-positioned image; removing the key frames larger than the screening radius to obtain screened first key frames; screening out a second key frame from the visual positioning map based on orientation information of an image to be positioned and the key frame orientation information; and screening out a third key frame from the key frames based on the image features. According to the method, the error rate caused by image retrieval in the visual map positioning process can be reduced while rapid positioning is carried out by using fewer map key frames.

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] However, image retrieval is performed only based on the global descriptor of the image, and only visual information is used for retrieval to achieve map positioning.

There are often bottlenecks in the success rate and accuracy of positioning results. Only using the visual information of the image for positioning cannot exclude visually similar image features, which can easily cause matching errors, and the error rate of positioning results cannot be avoided.

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