Camera pose determination method and device, electronic equipment and storage medium

Abstract

The invention discloses a camera pose determination method and device, electronic equipment and a storage medium, and relates to the technical field of electronic equipment. The method comprises the following steps: acquiring multiple frames of color images and multiple frames of depth images obtained by shooting an environment reference object through a camera, extracting feature points of the environment reference object in the color images, re-projecting the feature points of the multiple frames of color images, and establishing re-projection errors of the multiple frames of color images; the method comprises the steps of extracting plane features of an environment reference object in a depth image as the plane features of the environment reference object in a corresponding color image, matching the plane features of multiple frames of color images, establishing plane error constraints of the multiple frames of color images, and determining the pose of a camera based on re-projection error constraints and the plane error constraints. According to the method, the plane features are extracted through the depth image, so that plane extraction is not affected by the imaging quality of the color image, effective plane features can still be stably provided in dark and texture-free environments, the positioning robustness is higher, and the accuracy is higher.

Description

technical field [0001] The present application relates to the technical field of electronic devices, and more particularly, to a method, apparatus, electronic device, and storage medium for determining the pose and orientation of a camera. Background technique [0002] Nowadays, industries such as mobile phone indoor navigation and 3D reconstruction, augmented reality, and mobile robots are developing rapidly and have broad application prospects and commercial value in the future. These industries or applications are inseparable from a key technology - real-time positioning technology . The current real-time localization technology can show a good tracking effect in the environment with rich environmental texture and high discrimination, but in the environment of weak texture, no texture, or repeated texture, its localization effect will be seriously degraded or even directly invalid. lead to poor positioning. SUMMARY OF THE INVENTION [0003] In view of the above proble...

AI Technical Summary

Problems solved by technology

The current real-time positioning technology can show a good tracking effect in an environment with rich and highly differentiated environmental textures, but in environments with weak textures, no textures, or repeated textures, its positioning effect will be seriously reduced or even directly invalidated. result in poor targeting

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