Loopback detection method and device and electronic equipment
A detection method and loopback technology, which is applied in the computer field, can solve problems such as viewing angle difference and loopback detection, and achieve the effect of increasing robustness and avoiding failure of loopback detection
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Embodiment 1
[0029] This embodiment proposes a loopback detection method, where the execution subject is a computing device on a land-air amphibious platform.
[0030] The computing device is connected to the image acquisition device on the land-air amphibious platform, and can acquire images of the surrounding environment collected by the image acquisition device.
[0031] see figure 1 Shown is a flow chart of a loopback detection method. This embodiment provides a loopback detection method, which includes the following specific steps:
[0032] Step 100: Obtain the current surrounding environment image, process the current surrounding environment image, and obtain the key frame of the current surrounding environment image, key frame position information, and the current surrounding environment image. Feature points in the image are obtained. location information.
[0033] In the above step 100, the computing device first obtains the current surrounding environment image collected by the...
Embodiment 2
[0092] This embodiment provides a loopback detection apparatus, which is used to execute the loopback detection method proposed in the above-mentioned Embodiment 1.
[0093] see figure 2 Shown is a schematic structural diagram of a loopback detection device. This embodiment provides a loopback detection device, including:
[0094] The acquisition module 200 is configured to acquire the current surrounding environment image, process the current surrounding environment image, and obtain the key frame of the current surrounding environment image, the position information of the key frame, and the information in the current surrounding environment image. Location information of feature points;
[0095] The processing module 202 is configured to preprocess the current surrounding environment image to obtain a grayscale image of the current surrounding environment image, and process the grayscale image through the trained deep learning model to obtain the grayscale image of the cu...
Embodiment 3
[0110] This embodiment provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is run by a processor, the steps of the loop closure detection method described in Embodiment 1 above are executed. For specific implementation, refer to Method Embodiment 1, which will not be repeated here.
[0111] In addition, see image 3A schematic structural diagram of an electronic device is shown. This embodiment also provides an electronic device. The electronic device includes a bus 51 , a processor 52 , a transceiver 53 , a bus interface 54 , a memory 55 and a user interface 56 . The above-mentioned electronic device includes the memory 55 .
[0112] In this embodiment, the above-mentioned electronic device further includes: one or more programs stored on the memory 55 and executable on the processor 52, configured to be executed by the above-mentioned processor to execute the above-mentioned o...
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