Visual positioning method and related device, electronic equipment and storage medium
A visual positioning and positioning image technology, applied in the field of computer vision, can solve the problems of a large number of resources, sensitive texture features, frequent update models, etc., to achieve the effect of improving the ability of expansion and reducing resource occupation
Pending Publication Date: 2022-01-07
ZHEJIANG SENSETIME TECH DEV CO LTD
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Problems solved by technology
On the one hand, this technology needs to build a dense model containing texture information, which greatly limits the ability to expand to large-scale scenes. On the other hand, because it is sensitive to texture features, it needs to update the model frequently, which requires a lot of resources.
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[0043] The solutions of the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.
[0044] 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.
[0045] The terms "system" and "network" are often used interchangeably herein. 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.
[0046] see figure 1 , figure 1 It ...
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The invention discloses a visual positioning method, a related device, electronic equipment and a storage medium; the method comprises the steps: obtaining a to-be-positioned image and a shooting position of the to-be-positioned image, and obtaining a building map at the shooting position, wherein a first building is shot in the to-be-positioned image, and a second building in the building map is a model formed by surface patches; acquiring a first point cloud of a first building in the to-be-positioned image, and acquiring a second point cloud of a second building in the building map; analyzing the first point cloud and the second point cloud to obtain a first pose; and optimizing the first pose based on the first contour of the first building to obtain a final pose of the to-be-positioned image. According to the scheme, the capability of expanding visual positioning to a large-scale scene can be improved, and resource occupation is reduced.
Description
technical field [0001] The present application relates to the technical field of computer vision, in particular to a visual positioning method and related devices, electronic equipment and storage media. Background technique [0002] In cities, estimating camera poses based on captured scene images is a technology with great application value. It can be applied to urban-level AR (Augmented Reality, augmented reality), autonomous driving and other fields, and plays an important role. [0003] At present, the existing visual localization technology usually relies on extracting the texture features of the image and matching them with the model texture to estimate the camera pose. On the one hand, this technology needs to build a dense model containing texture information, which greatly limits the ability to expand to large-scale scenes. On the other hand, because it is sensitive to texture features, it needs to update the model frequently, which requires a lot of resources. In...
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Login to View More IPC IPC(8): G06T7/73G06N3/04G06N3/08
CPCG06T7/75G06N3/08G06T2207/10028G06T2207/20081G06T2207/20084G06T2207/30244G06N3/045
Inventor 章国锋鲍虎军崔兆鹏李海范天行翟宏佳
Owner ZHEJIANG SENSETIME TECH DEV CO LTD