CN110914867A - 位姿确定方法、设备、计算机可读存储介质 - Google Patents
位姿确定方法、设备、计算机可读存储介质 Download PDFInfo
- Publication number
- CN110914867A CN110914867A CN201880038859.8A CN201880038859A CN110914867A CN 110914867 A CN110914867 A CN 110914867A CN 201880038859 A CN201880038859 A CN 201880038859A CN 110914867 A CN110914867 A CN 110914867A
- Authority
- CN
- China
- Prior art keywords
- image frame
- pose
- image
- frames
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 78
- 238000003860 storage Methods 0.000 title claims description 12
- 238000003384 imaging method Methods 0.000 claims abstract description 257
- 230000007613 environmental effect Effects 0.000 claims abstract description 68
- 238000006073 displacement reaction Methods 0.000 claims description 60
- 238000004422 calculation algorithm Methods 0.000 claims description 27
- 238000001914 filtration Methods 0.000 claims description 16
- 238000005259 measurement Methods 0.000 claims description 12
- 238000003708 edge detection Methods 0.000 claims description 8
- 239000013589 supplement Substances 0.000 claims description 4
- 238000005457 optimization Methods 0.000 claims description 3
- 230000002349 favourable effect Effects 0.000 abstract description 2
- 238000012545 processing Methods 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 238000005286 illumination Methods 0.000 description 10
- 238000004364 calculation method Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 7
- 230000000007 visual effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 230000010354 integration Effects 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
Abstract
一种位姿确定方法，包括：检测成像设备采集第一图像帧时的环境条件；当所述环境条件劣于预设成像条件时，从关键帧序列中选取M帧关键帧，依据所述M帧关键帧和所述第一图像帧确定所述成像设备采集所述第一图像帧时的位姿；当所述环境条件不劣于所述预设成像条件时，从所述关键帧序列中选取N帧关键帧，依据所述N帧关键帧和所述第一图像帧确定所述成像设备采集所述第一图像帧时的位姿；其中，所述关键帧序列为从所述成像设备采集的原始图像序列中选取，所述M小于所述N，所述M和所述N为不小于1的正整数。该方法可环境自适应地测量成像设备的位姿，有利于提高成像设备的定位准确性。
Description
PCT国内申请，说明书已公开。
Claims (55)
- PCT国内申请，权利要求书已公开。
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/095957 WO2020014864A1 (zh) | 2018-07-17 | 2018-07-17 | 位姿确定方法、设备、计算机可读存储介质 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110914867A true CN110914867A (zh) | 2020-03-24 |
Family
ID=69164208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880038859.8A Pending CN110914867A (zh) | 2018-07-17 | 2018-07-17 | 位姿确定方法、设备、计算机可读存储介质 |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110914867A (zh) |
| WO (1) | WO2020014864A1 (zh) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112950715A (zh) * | 2021-03-04 | 2021-06-11 | 杭州迅蚁网络科技有限公司 | 无人机的视觉定位方法、装置、计算机设备和存储介质 |
| CN113286076A (zh) * | 2021-04-09 | 2021-08-20 | 华为技术有限公司 | 拍摄方法及相关设备 |
| CN113514058A (zh) * | 2021-04-23 | 2021-10-19 | 北京华捷艾米科技有限公司 | 融合msckf和图优化的视觉slam定位方法及装置 |
| CN113900439A (zh) * | 2021-12-10 | 2022-01-07 | 山东理工职业学院 | 无人船自动进离码头的方法、系统和控制终端 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105518560A (zh) * | 2014-10-31 | 2016-04-20 | 深圳市大疆创新科技有限公司 | 一种基于位置的控制方法、装置、可移动机器以及机器人 |
| US20170138740A1 (en) * | 2015-11-12 | 2017-05-18 | Blackberry Limited | Utilizing camera to assist with indoor pedestrian navigation |
| CN106708048A (zh) * | 2016-12-22 | 2017-05-24 | 清华大学 | 机器人的天花板图像定位方法和系统 |
| CN107025668A (zh) * | 2017-03-30 | 2017-08-08 | 华南理工大学 | 一种基于深度相机的视觉里程计的设计方法 |
| US9911197B1 (en) * | 2013-03-14 | 2018-03-06 | Hrl Laboratories, Llc | Moving object spotting by forward-backward motion history accumulation |
| CN107907131A (zh) * | 2017-11-10 | 2018-04-13 | 珊口（上海）智能科技有限公司 | 定位系统、方法及所适用的机器人 |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6475772B2 (ja) * | 2016-05-09 | 2019-02-27 | ツーアンツ インク．ＴｗｏＡｎｔｚ Ｉｎｃ． | 視覚的測位によるナビゲーション装置およびその方法 |
| US10241520B2 (en) * | 2016-12-22 | 2019-03-26 | TCL Research America Inc. | System and method for vision-based flight self-stabilization by deep gated recurrent Q-networks |
| CN107123142B (zh) * | 2017-05-09 | 2020-05-01 | 北京京东尚科信息技术有限公司 | 位姿估计方法和装置 |
| CN107246868B (zh) * | 2017-07-26 | 2021-11-02 | 上海舵敏智能科技有限公司 | 一种协同导航定位系统及导航定位方法 |
| CN108180909B (zh) * | 2017-12-22 | 2018-12-25 | 北京三快在线科技有限公司 | 相对位置确定方法、装置及电子设备 |
| CN108256574B (zh) * | 2018-01-16 | 2020-08-11 | 广东省智能制造研究所 | 机器人定位方法及装置 |
-
2018
- 2018-07-17 WO PCT/CN2018/095957 patent/WO2020014864A1/zh active Application Filing
- 2018-07-17 CN CN201880038859.8A patent/CN110914867A/zh active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9911197B1 (en) * | 2013-03-14 | 2018-03-06 | Hrl Laboratories, Llc | Moving object spotting by forward-backward motion history accumulation |
| CN105518560A (zh) * | 2014-10-31 | 2016-04-20 | 深圳市大疆创新科技有限公司 | 一种基于位置的控制方法、装置、可移动机器以及机器人 |
| US20170138740A1 (en) * | 2015-11-12 | 2017-05-18 | Blackberry Limited | Utilizing camera to assist with indoor pedestrian navigation |
| CN106708048A (zh) * | 2016-12-22 | 2017-05-24 | 清华大学 | 机器人的天花板图像定位方法和系统 |
| CN107025668A (zh) * | 2017-03-30 | 2017-08-08 | 华南理工大学 | 一种基于深度相机的视觉里程计的设计方法 |
| CN107907131A (zh) * | 2017-11-10 | 2018-04-13 | 珊口（上海）智能科技有限公司 | 定位系统、方法及所适用的机器人 |
Non-Patent Citations (1)
| Title |
|---|
| 李荣明等: "单目视觉定位方法研究综述" * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112950715A (zh) * | 2021-03-04 | 2021-06-11 | 杭州迅蚁网络科技有限公司 | 无人机的视觉定位方法、装置、计算机设备和存储介质 |
| CN112950715B (zh) * | 2021-03-04 | 2024-04-30 | 杭州迅蚁网络科技有限公司 | 无人机的视觉定位方法、装置、计算机设备和存储介质 |
| CN113286076A (zh) * | 2021-04-09 | 2021-08-20 | 华为技术有限公司 | 拍摄方法及相关设备 |
| CN113514058A (zh) * | 2021-04-23 | 2021-10-19 | 北京华捷艾米科技有限公司 | 融合msckf和图优化的视觉slam定位方法及装置 |
| CN113900439A (zh) * | 2021-12-10 | 2022-01-07 | 山东理工职业学院 | 无人船自动进离码头的方法、系统和控制终端 |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020014864A1 (zh) | 2020-01-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20200334843A1 (en) | Information processing apparatus, control method for same, non-transitory computer-readable storage medium, and vehicle driving support system | |
| CN110914867A (zh) | 位姿确定方法、设备、计算机可读存储介质 | |
| EP3420530B1 (en) | A device and method for determining a pose of a camera | |
| US9542745B2 (en) | Apparatus and method for estimating orientation of camera | |
| EP1981278B1 (en) | Automatic tracking device and automatic tracking method | |
| US8891821B2 (en) | Object tracking device, object tracking method, and object tracking program | |
| US9001222B2 (en) | Image processing device, image processing method, and program for image processing for correcting displacement between pictures obtained by temporally-continuous capturing | |
| CN105518702A (zh) | 一种对目标物体的检测方法、检测装置以及机器人 | |
| US10650535B2 (en) | Measurement device and measurement method | |
| JP2008298685A (ja) | 計測装置及びプログラム | |
| US20200334832A1 (en) | Method of detecting moving objects from a temporal sequence of images | |
| WO2015039215A1 (en) | Method and apparatus for determination of misalignment between device and pedestrian using vision | |
| JP5086824B2 (ja) | 追尾装置及び追尾方法 | |
| EP2479537A2 (en) | Vision based zero velocity and zero attitude rate update | |
| CN108369739B (zh) | 物体检测装置和物体检测方法 | |
| CN110741625B (zh) | 运动估计方法及摄影器材 | |
| CN111553342B (zh) | 一种视觉定位方法、装置、计算机设备和存储介质 | |
| CN113701750A (zh) | 一种井下多传感器的融合定位系统 | |
| JP2015005220A (ja) | 情報表示装置及び情報表示方法 | |
| JP2022190173A (ja) | 位置推定装置 | |
| EP3963548B1 (en) | A system and method for localisation using footprints | |
| CN111780744B (zh) | 移动机器人混合导航方法、设备及存储装置 | |
| JP2002190027A (ja) | 画像認識による速度測定システム及び速度測定方法 | |
| EP3734553A1 (en) | A system and method for localisation using footprints | |
| CN111614834A (zh) | 电子设备控制方法、装置、电子设备及存储介质 |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200324 |