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Relocation method and electronic equipment

A relocation and visual equipment technology, applied in navigation, instrumentation, surveying and navigation, etc., can solve the problems of relocation accuracy that need to be improved, and achieve the effect of stable spatial distribution and improved accuracy

Active Publication Date: 2022-06-28
苏州魔视智能科技有限公司
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Problems solved by technology

However, the accuracy of relocation needs to be improved

Method used

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  • Relocation method and electronic equipment
  • Relocation method and electronic equipment
  • Relocation method and electronic equipment

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Embodiment Construction

[0015] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0016] The relocation method of the present application is based on the pre-created global semantic map and the local semantic map established during the movement of the visual device. Pose in the map. Wherein, the visual equipment includes but is not limited to cameras, video cameras, and the like. In the embodiment shown in this application, ...

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Abstract

The invention discloses a relocation method and electronic equipment, and the method comprises the steps: associating a first object and a first global object observed in a local semantic map to obtain a first association pair, the first global object being an object having the same semantic information as the first object in a global semantic map; for a second object observed in the local semantic map, associating the second object with a second global object to obtain a second association pair, the second global object being an object having the same semantic information as the second object in the global semantic map; and if the Euclidean distance between the first object and the second object is matched with the Euclidean distance between the first global object and the second global object, combining the first association pair and the second association pair, and repositioning the visual device based on the combined association pair. And the repositioning accuracy is high.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a relocation method and an electronic device. Background technique [0002] In the SLAM (simultaneous localization and mapping) functional module of autonomous driving technology, relocation is one of the core functions, which is widely used to solve the key problems such as initialization of global arbitrary starting point and re-tracing after trajectory tracking is lost. question. Existing vision-based relocation function implementations can be divided into sparse feature point-based relocation methods and semantic relocation methods. Among them, the method based on semantic relocation has stronger feature stability due to the use of high-order semantic information. This direction is currently mainly divided into two categories. One is to use the powerful learning function of neural network to extract feature pairs according to the observed semantic information, and...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/30
CPCG01C21/005G01C21/30
Inventor 胡兰张如高虞正华
Owner 苏州魔视智能科技有限公司
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