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Method and system for simultaneous positioning and mapping, and storage medium

A mapping and map technology, applied in the field of artificial intelligence, can solve the problems of complex optimization and affecting system performance, etc.

Active Publication Date: 2018-11-09
UISEE TECH BEIJING LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The features extracted by this technical solution may be affected by image distortion, and the complex imaging model of the large field of view camera will make the optimization extremely complicated, thus affecting the performance of the system

Method used

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  • Method and system for simultaneous positioning and mapping, and storage medium
  • Method and system for simultaneous positioning and mapping, and storage medium
  • Method and system for simultaneous positioning and mapping, and storage medium

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Embodiment Construction

[0079] In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Apparently, the described embodiments are only some embodiments of the present invention, rather than all embodiments of the present invention, and it should be understood that the present invention is not limited by the exemplary embodiments described here. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative effort shall fall within the protection scope of the present invention.

[0080] The large field of view camera has a wide viewing angle and can see information in a wider field of view. For example, the field of view of a fisheye camera can reach 220° or 230°. Combined with the SLAM technology of the large field of vie...

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Abstract

The embodiment of the invention provides a method and system for the simultaneous positioning and mapping, and a storage medium. The method comprises the steps: obtaining a big-view-field image through a big-view-field camera; projecting the big-view-field image to imaging planes of at least two virtual pin hole cameras in different directions based on a multiple virtual pin hole camera model according to the internal parameters of the big-view-field camera, so as to obtain a projection map based on each virtual pin hole camera; unfolding at least two projection maps in different directions, so as to obtain a big-view-field distortion removal image corresponding to the big-view-field image, wherein the multiple virtual pin hole camera model comprises at least two virtual pin hole cameras in different directions, and the centers of the virtual pin hole cameras are coincided with the center of the big-view-field camera; tracking the movement of the big-view-field camera based on the big-view-field distortion removal image, and building a map. Through the above scheme, the method can maintain all view fields of the big-view-field camera, and is not affected by the image distortion.

Description

technical field [0001] The present invention relates to the field of artificial intelligence, and more specifically relates to a method, system and storage medium for simultaneous positioning and mapping. Background technique [0002] Simultaneous Localization And Mapping (SLAM for short) is a technology that tracks the movement of a robot in real time and simultaneously builds a map of the surrounding environment in the process to achieve positioning and navigation goals. [0003] The camera used in traditional monocular SLAM is a perspective camera or a pinhole camera. Due to the limited Field-of-View of the camera, there are insufficient common features between the acquired images, which may lead to the loss of SLAM algorithm tracking. Compared with traditional perspective cameras, cameras with large fields of view, such as fisheye cameras, catadioptric cameras, or panoramic imaging cameras, have wider viewing angles and can see information in a wider field of view. SLA...

Claims

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Application Information

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IPC IPC(8): G06T7/246G06T7/73G06T5/00G06T19/00
CPCG06T7/246G06T7/73G06T19/003G06T5/80
Inventor 王亚慧蔡少骏
Owner UISEE TECH BEIJING LTD
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