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Visual positioning method and device

A visual positioning and pose technology, applied in the field of visual positioning, can solve the problems of inaccurate visual positioning results, large differences, unstable positioning results of unmanned equipment, etc., to avoid unstable positioning results and accurate visual positioning results. Effect

Active Publication Date: 2020-06-05
BEIJING SANKUAI ONLINE TECH CO LTD
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

[0004] Because the visual positioning results determined based on a single frame image are not accurate enough, and the visual positioning results corresponding to two frames of images collected at the same position may be quite different, resulting in unstable positioning results of the unmanned device

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  • Visual positioning method and device

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Embodiment Construction

[0051] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this application will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

[0052]The visual positioning method provided in this specification can be applied to unmanned equipment, when the unmanned equipment is started and initialized indoors, or when a positioning module such as a Global Positioning System (Global Positioning System, GPS) placed on the unmanned equipment When positioning is lost, the visual positioning method provided...

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Abstract

The invention discloses a visual positioning method and device. The method comprises the steps of: obtaining videos acquired by the image sensor; determining visual positioning information corresponding to each frame of image in the video and an acquisition pose transformation relationship of an image sensor corresponding to each frame of image; and optimizing the visual positioning information corresponding to each frame of image by taking the acquisition pose transformation relationship corresponding to each frame of image as an edge constraint, and determining a visual positioning result when the image sensor acquires the video according to an imaging processing result. Compared to the prior art, the visual positioning information corresponding to each frame of image in the video of thespecification meets the collection pose transformation relationship corresponding to each frame of image, the visual positioning result, determined according to the image optimization result, of theimage sensor is more accurate, the problem that the visual positioning results corresponding to a plurality of frames of images collected at the same position are large in difference is solved, and the situation that the positioning results at the same position are unstable is avoided.

Description

technical field [0001] The present application relates to the technical field of visual positioning, in particular to a visual positioning method and device. Background technique [0002] At present, with the continuous development of technology, visual positioning technology based on machine vision is more and more widely used in unmanned driving, smart wear and other fields. [0003] Taking the field of unmanned driving as an example, when unmanned equipment loses its location, it can use visual positioning technology to locate it. At present, the commonly used visual positioning methods are the visual positioning results determined based on a single frame image, which may include positioning methods based on single frame images, positioning methods based on deep learning models, etc. [0004] Because the visual positioning results determined based on a single frame image are not accurate enough, and the visual positioning results corresponding to two frames of images col...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/02G01C21/16G05D1/02
CPCG01C11/02G01C21/165G05D1/0293G01C21/1656G06T2207/10016G06T7/246G06T7/73G06T7/0002G06T2207/30168G06T7/74
Inventor 申浩聂琼夏华夏
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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