Map generation method, positioning method and system, and computer readable storage medium

A technology of map generation and positioning method, which is applied in the field of computer computing, can solve problems such as matching errors and approximate image features that cannot be ruled out, and achieve the effects of fast speed, accurate and effective positioning data, and high recall rate

Pending Publication Date: 2021-12-17
SHICHEN INFORMATION TECH SHANGHAI CO LTD
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  • Abstract
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  • Claims
  • Application Information

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 o

Method used

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  • Map generation method, positioning method and system, and computer readable storage medium
  • Map generation method, positioning method and system, and computer readable storage medium
  • Map generation method, positioning method and system, and computer readable storage medium

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Embodiment Construction

[0103] 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 clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

[0104] The singular forms "a", "an" 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 elements from another or another class, respectively, and are not intended to denote the position of separate elements or ...

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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...

Claims

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Application Information

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IPC IPC(8): G06T17/05G06T7/73G06F16/29G01C21/32G01C21/00
CPCG06T17/05G06T7/73G06F16/29G01C21/32G01C21/3804
Inventor 江晓斌刘力李中源张小军
Owner SHICHEN INFORMATION TECH SHANGHAI CO LTD
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