CN112556692B - 一种基于注意力机制的视觉和惯性里程计方法和系统 - Google Patents
一种基于注意力机制的视觉和惯性里程计方法和系统 Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
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- G06F18/25—Fusion techniques
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1(一维卷积层) | 3 | 128 | 1 | 0 |
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CN113392904B (zh) * | 2021-06-16 | 2022-07-26 | 华南理工大学 | 基于ltc-dnn的视觉惯导组合导航系统与自学习方法 |
CN113984078B (zh) * | 2021-10-26 | 2024-03-08 | 上海瑾盛通信科技有限公司 | 到站提醒方法、装置、终端及存储介质 |
CN114612556A (zh) * | 2022-03-01 | 2022-06-10 | 北京市商汤科技开发有限公司 | 视觉惯性里程计模型的训练方法、位姿估计方法及装置 |
CN116681759B (zh) * | 2023-04-19 | 2024-02-23 | 中国科学院上海微系统与信息技术研究所 | 一种基于自监督视觉惯性里程计的相机位姿估计方法 |
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US10371530B2 (en) * | 2017-01-04 | 2019-08-06 | Qualcomm Incorporated | Systems and methods for using a global positioning system velocity in visual-inertial odometry |
US11740321B2 (en) * | 2017-11-30 | 2023-08-29 | Apple Inc. | Visual inertial odometry health fitting |
GB201804079D0 (en) * | 2018-01-10 | 2018-04-25 | Univ Oxford Innovation Ltd | Determining the location of a mobile device |
CN108827315B (zh) * | 2018-08-17 | 2021-03-30 | 华南理工大学 | 基于流形预积分的视觉惯性里程计位姿估计方法及装置 |
CN110246147B (zh) * | 2019-05-14 | 2023-04-07 | 中国科学院深圳先进技术研究院 | 视觉惯性里程计方法、视觉惯性里程计装置及移动设备 |
CN110595466B (zh) * | 2019-09-18 | 2020-11-03 | 电子科技大学 | 轻量级的基于深度学习的惯性辅助视觉里程计实现方法 |
CN111578937B (zh) * | 2020-05-29 | 2024-01-09 | 上海新天策数字科技有限公司 | 同时优化外参数的视觉惯性里程计系统 |
CN111780754B (zh) * | 2020-06-23 | 2022-05-20 | 南京航空航天大学 | 基于稀疏直接法的视觉惯性里程计位姿估计方法 |
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Application publication date: 20210326 Assignee: Zhejiang Visual Intelligence Innovation Center Co.,Ltd. Assignor: Institute of Information Technology, Zhejiang Peking University|Hangzhou Weiming Information Technology Co.,Ltd. Contract record no.: X2023330000927 Denomination of invention: A visual and inertial odometry method and system based on attention mechanism Granted publication date: 20230131 License type: Common License Record date: 20231219 |
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