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Visual positioning method, system and device combined with map information and medium

A visual positioning and map information technology, applied in the computer field, can solve problems such as low matching efficiency, inaccurate positioning, and high time cost, and achieve the effects of improving calculation speed, improving matching efficiency, and ensuring accuracy

Pending Publication Date: 2022-01-21
杭州易现先进科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The embodiment of the present application provides a method, system, device and medium for visual positioning combined with map information, so as to at least solve the problems of inaccurate positioning, low matching efficiency and high time cost in the visual positioning of images in the related art. question

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  • Visual positioning method, system and device combined with map information and medium
  • Visual positioning method, system and device combined with map information and medium
  • Visual positioning method, system and device combined with map information and medium

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Embodiment Construction

[0041]In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ordinary skill in the art relevant to the content disclosed in this application, the technology disclosed in this application Some design, manufacturing or production changes based on the content are just conventional technical means, and ...

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Abstract

The invention relates to a visual positioning method, system and device combined with map information and a medium. The method comprises the following steps: acquiring an image to be positioned, and extracting feature vectors, key points and descriptors; matching the feature vector with an image in a map database to obtain a candidate place image set; sorting the sets, and selecting two sets which are closest to each other; selecting a first approaching set from the two sets according to a user-defined algorithm; matching the key point descriptor of the to-be-positioned image with the first proximity set to obtain a matching point pair; according to the matching point pair or the 2D-3D matching pair, carrying out association degree sorting on the images in the first proximity set, estimating an initial pose value of the to-be-positioned image, and calculating a final pose of the to-be-positioned image through a PnP algorithm; and comparing the distance and the included angle between the final pose and the pose initial value, verifying the final pose, and returning a positioning result. According to the invention, the calculation speed and the positioning precision are improved.

Description

technical field [0001] The present application relates to the field of computers, in particular to a method, system, device and medium for visual positioning combined with map information. Background technique [0002] 3D visual positioning refers to calculating and obtaining the position and attitude of the camera when an image is taken based on the pre-constructed 3D model and related information. This is a very important technology of 3D vision, which can be used to help realize personnel positioning and navigation. The conventional method of visual positioning is to input image information, and output the 6DoF pose of the image through feature extraction, feature matching, and PnP calculation. [0003] However, in related technologies, in the case of visual positioning of an image, on the one hand, if the scene and the image to be positioned have many similar features, and the correct position cannot be distinguished, then a wrong positioning result is usually obtained,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V10/762G06V10/74G06K9/62
CPCG06F18/23
Inventor 张双力丛林
Owner 杭州易现先进科技有限公司
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