Pose determination method and device, storage medium and electronic equipment

Abstract

The embodiment of the invention discloses a pose determination method and device, a storage medium and electronic equipment. The method comprises the following steps: acquiring current position information and a point cloud frame; and determining a local map point cloud according to the position information, determining an attitude angle of the electronic device according to the point cloud frameand the local map point cloud, and performing point cloud matching according to the position information, the point cloud frame, the local map point cloud and the attitude angle to obtain pose information of the electronic device. By adopting the embodiment of the invention, the accuracy of point cloud matching is improved, and the accurate pose of the electronic equipment can be obtained.

Description

technical field [0001] The present application relates to the field of computer technology, and in particular, to a method, apparatus, storage medium, and electronic device for determining a pose. Background technique [0002] With the development of wireless communication technology and the popularization of electronic devices, people's requirements for electronic devices are also increasing. Electronic devices such as robots and intelligent vehicles are extremely important for the relocation of the local end of the electronic device for the environmental perception capability. Relocation refers to placing the electronic device anywhere within the range of the existing map point cloud, and the electronic device recognizes the pose (ie position and attitude) of the local end in the map through the included sensor devices. [0003] At present, in the process of determining the pose of an electronic device, the current position information (such as the coordinates of the curr...

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Problems solved by technology

[0003] At present, in the process of determining the pose of an electronic device, the electronic device generally obtains the current position information (such as the coordinates of the current position) and the scanned point cloud frame, and according to the position information and the point cloud frame and the existing electronic device The point cloud of the map point cloud is matched to determine the position and orientation of the electronic device; however, the position error of the position information usually reaches several meters or even more than ten meters, and the point cloud frame and the map point cloud are matched based on the position information with a large position error. The error of point cloud matching is high, resulting in inaccurate poses of electronic devices

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