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Visual map calibration method and device and storage medium

A calibration method and technology of a calibration device, applied in the field of information processing, can solve the problems of high cost of indoor maps, inability to directly apply visual positioning to laser point cloud images, and expensive equipment.

Pending Publication Date: 2019-09-20
BEIJING BAIDU NETCOM SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] At present, relatively accurate indoor maps can be generated using lidar technology, but due to expensive equipment, the cost of creating indoor maps is high, and laser point cloud images cannot be directly applied to visual positioning

Method used

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  • Visual map calibration method and device and storage medium
  • Visual map calibration method and device and storage medium
  • Visual map calibration method and device and storage medium

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Embodiment Construction

[0042] Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

[0043] The terms "comprising" and "having" and any variations thereof in the description and claims of the present invention are intended to cover a non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally further include...

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Abstract

The invention provides a visual map calibration method and device and a storage mediu. The method comprises that image data collected by a visual sensor is obtained, a movement track of the visual sensor is determined according to the image data, an initial visual map is generated based on the movement track of the visual sensor and the image data, and the initial visual map is calibrated based on a reference measurement map to obtain a first visual map. An indoor scene map serves as the reference measurement map. The visual map can be established rapidly and effectively in the calibration process, and accurate map data is provided for visual positioning.

Description

technical field [0001] The embodiments of the present invention relate to the technical field of information processing, and in particular to a calibration method, device and storage medium for a visual map. Background technique [0002] Indoor maps are mainly used in indoor scenes where the GPS signal is weak, or there is no GPS signal, or the GPS positioning accuracy cannot meet the requirements, such as large shopping malls, underground parking lots, and waiting halls. When a user enters an indoor location, especially an indoor location with a large area and complex terrain (such an indoor location sometimes includes a lot of POIs), the user often expects to use a portable device indoors like outdoor navigation, such as Smart phones, such as mobile phones, for precise navigation. Compared with outdoor navigation, indoor navigation has higher requirements for positioning accuracy. [0003] At present, relatively accurate indoor maps can be generated using lidar technolog...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C11/04
CPCG01C11/04G01C21/005
Inventor 赵晨旭
Owner BEIJING BAIDU NETCOM SCI & TECH CO LTD
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