The invention relates to the technical field of building information models,
augmented reality, synchronous localization and map construction, and provides a
deep learning-based SLAM-BIM
augmented reality cooperative localization method and
system, and the method comprises the steps: introducing a Transform
time sequence feature extractor and a geometric
relation graph, evaluating a dynamic distribution weight through combining with the confidence, achieving the cross-
modal closed-loop detection, and obtaining an SLAM-BIM
augmented reality cooperative localization result. A lightweight semantic segmentation network and a
feature fusion module are utilized, a dense map with consistent geometric
semantics is constructed, a space-
time error propagation equation is constructed, online calibration is realized by means of BIM scale prior, an incremental fusion
algorithm is designed, a global
pose is optimized in combination with AR interaction, and the
system fuses SLAM visual trajectory features and BIM semantic geometric features through a
deep learning technology. According to the method, the problems that traditional SLAM accumulative errors are large and the BIM fusion precision is low are solved, robust positioning and map construction in a complex scene are achieved, the cooperation precision and real-time performance of SLAM and BIM are improved, and the method is suitable for AR scenes such as
building construction and operation and maintenance.