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Method for recovering monocular SLAM scale through detection and calibration

A scale, single-purpose technology, applied in image data processing, image enhancement, instruments, etc., can solve the problems of complex calculation and large amount of calculation.

Pending Publication Date: 2021-02-09
的卢技术有限公司
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

The traditional scheme to restore the scale of monocular SLAM relies on the accuracy of road sign recognition and road geometric model calculation, which is complex and requires a huge amount of calculation

Method used

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  • Method for recovering monocular SLAM scale through detection and calibration
  • Method for recovering monocular SLAM scale through detection and calibration
  • Method for recovering monocular SLAM scale through detection and calibration

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Embodiment Construction

[0025] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0026] Reference herein to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein can be combined with other embodiment...

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Abstract

The invention discloses a method for recovering a monocular SLAM scale through detection and calibration, and the method comprises the steps: calibrating a camera, obtaining a first depth from a pointto the camera on a visual plane by perspective transformation calculation, detecting and setting a Marker, and detecting and setting a second depth from the Marker to the camera through a deep learning module; adding the first depth and the second depth into the SLAM back-end optimization process to obtain the monocular SLAM scale, so that the monocular SLAM scale is recovered, the calculation process is effectively simplified, and the algorithm complexity and related calculation amount are effectively reduced.

Description

technical field [0001] The invention relates to the technical field of computer vision, in particular to a method for recovering the monocular SLAM scale through detection and calibration. Background technique [0002] A monocular camera will lose a dimension when taking photos, and the scale can be restored by the height of the camera and the information of the road. The traditional scheme of restoring the scale of monocular SLAM relies on the accuracy of road sign recognition and road geometric model calculation, which is complex and computationally intensive. Contents of the invention [0003] In view of the above problems, the present invention proposes a method for recovering the monocular SLAM scale through detection and calibration. [0004] In order to achieve the purpose of the present invention, a method for recovering the monocular SLAM scale through detection and calibration is provided, including the following steps: [0005] S10, by calibrating the camera a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/536G06T7/80G06N3/04
CPCG06T7/536G06T7/80G06T2207/20081G06T2207/30252G06N3/045
Inventor 马鑫军
Owner 的卢技术有限公司
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