TW201800721A - Landmark re-parametrization method and device thereof for SLAM system - Google Patents

Abstract

The present disclosure illustrates a landmark re-parametrization method and a device thereof for SLAM system, which dynamically update anchor points, re-parametrize landmarks according to the updated anchor points, and update the covariance matrices associated with the landmarks, thereby acquiring more accurate state estimation. Therefore, the landmark re-parametrization method and the device thereof for SLAM system can accurately estimate the 3D position of landmarks, the track, position and orientation of the device when the device moves in the 3D space.

Description

Point parameter updating method and device applied to SLAM system

The invention provides a marking point parameterization updating method and a device thereof, and in particular to a marking point parameterization updating method and device thereof applied to a SLAM system.

The purpose of the SLAM (simultaneous localization and mapping) system is to use the information obtained by the sensor to estimate the trajectory and position of the device moving in space. One way to solve the above problem is called EKF (extended Kalman filter). This method maintains a system state, which usually contains the current position, velocity, direction of the device, and the three-dimensional spatial position of some points in the space (called landmarks).

In general, the information obtained by the sensor has errors, and in the prior art, the device is corrected by the camera's screen. Furthermore, it is assumed that the camera on the device captures the current picture and detects a plurality of feature points in the picture. The device uses the current position as a reference point (called an anchor point) and the image coordinates of the feature points to estimate the position of these feature points in three-dimensional space, which is called mark points, and these points are marked. Parameterization is used as a representation, such as inverse depth parametrization (IDP), that is, the mark point is represented by the inverse of the elevation angle, the azimuth angle, and the depth value.

However, in the SLAM system, the conventional anchor point is defined by the position of the device at a certain moment, although its position can be slightly changed but it is still in the current position. For the benchmark, this means that it cannot adapt to changes in the environment and may therefore infer inaccurate points. Therefore, if the anchor point can be updated at an appropriate timing, a more accurate marker point can be obtained, so that the trajectory and position of the estimation device moving in space can be more accurate.

Embodiments of the present invention provide a method for parameterized parameter updating of a point applied to a SLAM system, which is applicable to a device, and a device position, an orientation, a plurality of marking points, and an anchor point corresponding to each marking point in the inter-recording device. . Each marker point represents position information of a corresponding feature point in a picture in a three-dimensional space. The parameterized parameter updating method includes the following steps: estimating position information of each marked point in the three-dimensional space of the unupdated anchor point according to the parameterized value of the corresponding anchor point and the marked point; and determining, in each of the marked points, determining Whether the current device position is suitable as the corresponding anchor point; if it is determined that the current device position is suitable as the corresponding anchor point, the corresponding anchor point is updated to the current device position, according to the updated anchor point and the unupdated anchor point mark The parameterized value of the point or the parameter coordinate of one of the corresponding feature points generates a parameterized value of the current marked point, and the parameterized value of the marked point of the unupdated anchor point is updated with the parameterized value of the current marked point to update the common variation matrix. The following is used for the correction of the marker point and the device orientation; if it is determined that the current device location is not suitable as the corresponding anchor point, the corresponding anchor point is not updated, and the covariation matrix is not updated. The processor uses the parameterized value of the marked point of the unupdated anchor point as the parameterized value of the current marked point, and performs the correction of the next stage marking point and the device orientation by using the existing covariance matrix.

Embodiments of the present invention provide a tag point parameterization updating apparatus applied to a SLAM system. The marker point parameterization updating device comprises a camera module and a processor. The camera module detects a plurality of feature points in one of the pictures in the march. The processor is electrically connected to the camera module, and records a device position, an orientation, a plurality of marking points and an anchor point corresponding to each of the marking points during the traveling, and each of the marking points represents a corresponding one in the screen. Position information of a feature point in a three-dimensional space, and performing the following steps: estimating position information of each marked point in the three-dimensional space of the unupdated anchor point according to the parameterized value of the corresponding anchor point and the marked point; It is judged in each marker point whether the current device position is suitable as a corresponding anchor point. If the processor determines that the current device location is suitable as the corresponding anchor point, the processor updates the corresponding anchor point to the current device location. The processor generates a current marker point according to the updated anchor point and the parameterized value of the marker point that does not update the anchor point or the corresponding image coordinate of the feature point, and according to the parameter of the marker point of the anchor point that is not updated The statistic value is updated with the parameterized value of the current marker point to a common variation matrix for subsequent correction of the marker point and device orientation. If the processor determines that the current device location is not suitable as the corresponding anchor point, the processor does not update the corresponding anchor point and does not update the covariation matrix. The processor uses the parameterized value of the marked point of the unupdated anchor point as the parameterized value of the current marked point, and performs the correction of the next stage marking point and the device orientation by using the existing covariance matrix.

In summary, the method and device for marking point parameterization applied to the SLAM system provided by the embodiment of the present invention dynamically update the anchor point, re-parameterize the mark point according to the updated anchor point, and update the mark at the same time. The covariation matrix of points. Accordingly, the marker point parameterization updating method and apparatus applied to the SLAM system can more accurately estimate the position of the device in the three-dimensional space and the trajectory, position and direction of the device moving in the three-dimensional space.

The detailed description of the present invention and the accompanying drawings are to be understood by the claims The scope is subject to any restrictions.

100‧‧‧Marking point parameterization update device

110‧‧‧ camera module

120‧‧‧ processor

A, B, C, D‧‧‧ feature points

S310, S320, S330, S340‧‧‧ steps

1 is a schematic diagram of a marker point parameterization updating apparatus applied to a SLAM system according to an embodiment of the present invention.

2 is a schematic diagram of feature points in a screen according to an embodiment of the present invention.

3 is a marker point parameter applied to a SLAM system according to an embodiment of the present invention; Flow chart of the update method.

In the following, the invention will be described in detail by way of illustration of various exemplary embodiments of the invention. However, the inventive concept may be embodied in many different forms and should not be construed as being limited to the illustrative embodiments set forth herein. In addition, the same reference numerals may be used in the drawings to indicate similar elements.

First, please refer to FIG. 1 at the same time, which shows a schematic diagram of a marker point parameterization updating apparatus applied to a SLAM system according to an embodiment of the present invention. As shown in FIG. 1, the marker point parameterization updating apparatus 100 is applied to the SLAM system to estimate the trajectory and position of the marker point parameterization updating apparatus 100 moving in space. In this embodiment, the tag point parameterization updating device 100 can be a computer host, a tablet computer or other electronic device, which is not limited by the present invention. Furthermore, the marker point parameterization updating device 100 can be disposed on a mobile platform to estimate the trajectory and position of the movement in the three-dimensional space between the routes.

The marker point parameterization updating device 100 includes a camera module 110 and a processor 120. The processor 120 calculates a device location and an orientation during travel. In the present embodiment, the processor 120 sets in advance the speed and orientation at which the device 100 travels once to estimate the position and orientation of the device during travel. In other embodiments, the processor 120 can have a sensing module (not shown in the drawings). The sensing module senses the position and orientation of the device 100 during travel. Furthermore, the sensing module has a three-axis accelerometer and a gyroscope (not shown in the drawings), and the position of the three-axis accelerometer and the gyroscope can be configured according to actual conditions. The three-axis accelerometer and the gyroscope are respectively the acceleration and orientation of the sensing device 100 during travel. The acceleration will be generated by the integral operation to generate the position of the device parameterized update device 100. The sensing module can also additionally provide other sensors, such as a speed sensor, for the processor 120 to perform subsequent processing according to actual conditions. For example, the processor 120 estimates the device position p, the velocity v and the square of the marker point parameterization updating device 100 when the time is 0.01 seconds. Bit q is as follows in the system state shown in <Table 1>.

Please also refer to FIG. 2, which shows a schematic diagram of feature points in the screen of an embodiment of the present invention. As shown in FIG. 1-2, the camera module 110 is configured to detect a plurality of feature points A, B, C, and D in the screen Fr of the marker point parameterization updating apparatus 100, and to set the feature point AD. The image coordinates in the picture Fr are provided to the processor 120 for the processor 120 to estimate the positional information of the image coordinates of the feature point AD in the three-dimensional space. The position information of the image coordinates of each feature point A-D in the three-dimensional space is represented by a marker point (described below in detail). In this embodiment, the camera module 110 searches for the feature points AD in the picture Fr through a Corner Detection algorithm, and can also find feature points in the picture Fr through other algorithms. The present invention There is no limit to this. For example, the camera module 110 finds four feature points A-D, and the image coordinates of the feature points A-D in the screen Fr are as follows in the system state shown in <Table 2>.

The processor 120 is electrically connected to the camera module 110, and is configured to perform the following steps to estimate position information of each feature point A-D in three-dimensional space according to each feature point A-D and a corresponding anchor point. The positional information of the image coordinates of each feature point A-D in the three-dimensional space will be represented by the marker points A1, B1, C1 and D1. The position information of the image coordinates of each feature point A-D in three-dimensional space will be The points A1, B1, C1 and D1 are indicated as being known to those of ordinary skill in the art, and therefore will not be described again. The marker points A1-D1 in this embodiment are parameterized marker points and are represented by inverse depth parametrization (IDP) to facilitate calculation by the processor 120. The parameter points A1-D1 can also be other parameterized representations, such as the AHP (anchored homogeneous point) parameterized representation, which is not limited in the present invention. In addition, each of the marker points A1-D1 has an anchor point, and each anchor point is a reference point corresponding to the marker point parameterization updating apparatus 100 for each marker point A1-D1. The definition of the anchor point is known to those of ordinary skill in the art, and therefore will not be described herein. According to the above example, when the processor 120 has a time of 0.01 second, the parameterized values of the device position p, the velocity v, the azimuth q, the anchor point m, and the marker points A1 - D1 in the system state are as follows <Table 3>.

Please also refer to FIG. 3, which shows a flowchart of a method for parameterized parameter updating of a point applied to a SLAM system according to an embodiment of the present invention. After the marker point parameterization update device 100 travels for a period of time, the processor 120 will estimate the current (eg, 0.05 second time) system state. First, the processor 120 will estimate the unupdated anchor point according to the parameterized value of the corresponding anchor point (such as anchor point m=[0,0,0.020045] of Table 3) and the corresponding feature point AD of the marker point A1-D1. The parameterized value of each of the points E1, F1, G1 and H1 is marked (step S310).

Parameterization of each marker point E1, F1, G1 and H1 without updating the anchor point The calculation of the value will be calculated according to the parameterized value of the corresponding anchor point and the corresponding feature point of the marker point A1-D1 and is calculated by, for example, an Extended Kalman Filter (EKF) algorithm, and will not be described herein. According to the above example, when the processor 120 has a time of 0.05 seconds, the parameterized values of the device position p, the velocity v, the azimuth q, the anchor point m, and the marked point E1-H1 of the unupdated anchor point in the estimated system state are as follows: <Table 4> is shown.

Next, the processor 120 will further determine, in each of the marker points A1-D1, whether the current device location is suitable as a corresponding anchor point (step S320). In this embodiment, the processor 120 will determine whether the current device location is based on the relationship between the marked point of the unupdated anchor point, the unupdated anchor point, and the current device location in each of the marked points A1-D1. Suitable as a corresponding anchor point. Furthermore, the relationship between the un-updated anchor point, the unupdated anchor point and the current device location is a distance relationship.

The distance relationship between the marked point E1 of the unupdated anchor point and the unupdated anchor point m=[0, 0, 0.020045] and the current device position is explained. Therefore, if the distance between the marked point E1 of the anchor point that has not been updated and the current device position is less than or equal to the unupdated anchor The distance between the point E1 of the point and the unupdated anchor point m=[0,0,0.020045], the point E1 of the unupdated anchor point is closer to the current device position, indicating that the current device position is suitable as the corresponding anchor Point; otherwise, if the distance between the marked point E1 of the unupdated anchor point and the current device position is greater than the distance between the marked point E1 of the unupdated anchor point and the unupdated anchor point m=[0, 0, 0.020045], The marked point E1 of the anchor point that is not updated is far from the current device position, indicating that the current device position is not suitable as the corresponding anchor point.

In each of the markers A1-D1, if the processor 120 determines that the current device location is suitable as the corresponding anchor point, the processor 120 will then perform step S330, that is, the processor 120 updates the corresponding anchor point to the current device location. And generating a parameterized value of the current marker point according to the parameterized value of the updated anchor point and the marker point E1-H1 of the unupdated anchor point, or according to the image point of the updated anchor point and the corresponding feature point, In order to obtain the position information of the corresponding feature points in the three-dimensional space in the picture Fr at the current time. Then, the processor 120 updates the common variation matrix according to the parameterized value of the marked point of the unupdated anchor point and the parameterized value of the current marked point. The calculation method for the processor 120 to re-parameterize the corresponding mark points is well known to those skilled in the art, and therefore will not be described herein.

。而代表未更新錨點的標記點E1在三維空間中的座標=[-1.060748,-1.060748,3.177802]與目前的裝置位置p=[0,0,0.101125]之間距離為

。故由上述可知，未更新錨點的標記點E1與目前的裝置位置之間 的距離小於等於未更新錨點的標記點E1與前一個錨點之間的距離。處理器120判斷未更新錨點的標記點E1距離目前的位置較近，表示目前的裝置位置適合作為對應的錨點。 In the example of <Table 4>, the marked point E1=[1.124891, -2.356195, 0.296355] without updating the anchor point is the parameterized mark point. The processor 120 converts the marker point E1 of the unupdated anchor point into a coordinate in the three-dimensional space using the corresponding anchor point m=[0,0,0.020045]=[-1.060748, -1.060748, 3.177802]. The distance between the coordinates of the marked point E1 representing the unupdated anchor point in the three-dimensional space = [-1.060748, -1.060748, 3.177802] and the corresponding anchor point m = [0, 0, 0.020045] is

. The distance between the coordinates of the marked point E1 representing the unupdated anchor point in the three-dimensional space=[-1.060748, -1.060748, 3.177802] and the current device position p=[0,0,0.101125] is

. Therefore, as can be seen from the above, the distance between the marked point E1 of the unupdated anchor point and the current device position is less than or equal to the distance between the marked point E1 of the unupdated anchor point and the previous anchor point. The processor 120 determines that the marked point E1 of the anchor point that is not updated is closer to the current position, indicating that the current device position is suitable as the corresponding anchor point.

Next, the processor 120遂 updates the corresponding anchor point m=[0,0,0.020045] to the current device location, that is, the updated anchor point m is [0, 0, 0.101125]. The processor 120 will generate a current marker point E2 according to the parameterized value of the updated anchor point m=[0,0,0.101125] and the marker point E1 of the unupdated anchor point, that is, the processor 120 will be based on the updated The anchor point m=[0,0,0.101125] and re-parameterizes the marker point E1 of the unupdated anchor point by the reciprocal depth representation (IDP) to generate the parameterized value of the current marker point E2 to obtain the current time, the picture The position information of the corresponding feature points in the three-dimensional space in Fr. Alternatively, the processor 120 may generate a parameterized value of the current marker point E2 according to the updated anchor point m=[0, 0, 0.101125] and the image coordinate of the corresponding feature point A. For other marked points F1-H1 that are not updated, the processor 120 can also re-parameterize the marked points F1-H1 of the unupdated anchor points to generate a current marked point F2-H2, respectively. Let me repeat.

The processor 120 shown in <Table 5> below re-parameterizes the system state after the marker point E1-H1 of the anchor point is not updated at time 0.05 seconds to generate the current marker point E2-H2. The calculation method of the parameterized value of the current marker point E2-H2 is roughly similar to the calculation method of the marker point E1-H1 of the parameterized value of the unupdated anchor point of <Table 4>, and therefore will not be described herein.

In the EKF-SLAM system, the system maintains a covariation matrix that represents system state errors. Therefore, next, the processor 120 will generate a covariation matrix representing the current marker points E2-H2 according to the covariation matrix of the marker points E1-H1 of the anchor point that is not updated, to correct the entire system state, which is described in detail below. The processor 120 calculates a covariation matrix representing the current marker point E2-H2 according to the parameterized value of the marker point E1-H1 of the unupdated anchor point and the parameterized value of the current marker point E2-H2, thereby correcting the entire system state accordingly. . Furthermore, the degree of correlation between the parameterized value of the marked point E1-H1 of the unupdated anchor point and the parameterized value of the current marked point E2-H2 (ie, the value of E2-H2 relative to the value between E1-H1) Partial differentiation can be used to calculate a matrix G. Therefore, the covariation matrix P ⁺ can be organized into the following form: P ⁺ = GP ^- G ^T where P ⁺ is the system state covariation matrix after the anchor point is updated, and P ^- is the system state covariation matrix before the anchor point is updated. G ^T is the transposed matrix of the matrix G. Accordingly, the processor 120 will calculate the updated covariation matrix P ^{+ of the} anchor point through the matrix G.

Taking the example of <Table 4> and <Table 5>, for convenience of explanation, the following only describes the parameterized value of the current point E2 by reparameterizing the point E1 of the unupdated anchor point. Φ(p ^- , x ^- ) represents a function of the position of the three-dimensional space of the marker point calculated from the parameterized value of the marker point E1 before the anchor point is updated, where p ^- is the anchor point m = [0, 0, 0.020045], x ^- is the parameterized value of the point E1 of the anchor point that has not been updated [1.124891, - 2.356195, 0.296355]. Φ(p ⁺ , x ⁺ ) represents a function of the position of the three-dimensional space of the marker point calculated by the parameterized value of the marker point E2 after the anchor point is updated, where p ⁺ is the updated anchor point m=[0,0,0.101125 ], x ⁺ is the parameterized value of the current marker point E2 [1.116900, -2356194, 0.29214].

其中，

與

。而Y的定義如下：

其中，W為標記點參數化更新前後的數值變化關聯程度。而經簡化後，共變異矩陣P⁺遂可整理為如下形式：

其中，I_n與I_m分別代表n階與m階的單位矩陣，且其大小為根據系統狀態中的參數個數而定。因此，n為10(即<表五>中位置p、速度v及方位q的變數個數總和)，且m為9(即<表五>中標記點B1-D1之更新位置資訊F2-H2的變數個數總和)。 Regardless of whether the marker point E1 of the anchor point is not updated or the representation of the current marker point E2, it represents the same marker point in the space, thereby forming the following equation: Φ(p ^- , x ^- ) = Φ(p ⁺ , x ⁺ ) where the function Φ represents the positional information in the three-dimensional space of the marker point calculated from the parameterized information of the marker point E1 (ie, (p ^- , x ^- ) and (p ⁺ , x ⁺ )). After the above equation is expanded, taking the partial differential of the variable x ^- on both sides of the equal sign can obtain the following equation:

among them,

versus

. The definition of Y is as follows:

Where W is the degree of correlation of the numerical changes before and after the parameterized update of the marker points. After simplification, the covariation matrix P ⁺遂 can be organized into the following form:

Where I _n and I _m represent the unit matrix of the nth order and the mth order, respectively, and the size thereof is determined according to the number of parameters in the system state. Therefore, n is 10 (ie, the sum of the number of variables p, velocity v, and azimuth q in <Table 5>), and m is 9 (ie, the updated position information F2-H2 of the marker points B1-D1 in <Table 5> The sum of the number of variables).

，而M代表標記點參數化數值對系統狀態中裝置位置、速度與方向的偏微分。換言之

，其中s代表<表一>中的位置p、速度v及方位q所 組合而成的變數。 In the matrix G, W is the aforementioned

And M represents the partial differentiation of the position, velocity and direction of the device state in the system state. Actually

, where s represents the combination of position p, velocity v, and orientation q in <Table 1>.

If the processor 120 determines that the current device location is not suitable as the corresponding anchor point, the processor 120 will then perform step S340, that is, the processor 120 does not update the anchor point, does not update the covariation matrix, and will not update the anchor point of the anchor point. The parameterized value is used as the parameterized value of the current marker point to obtain the position information of the corresponding feature point in the three-dimensional space in the picture Fr at the current time. The calculation method for the processor 120 to re-parameterize the corresponding mark points is well known to those skilled in the art, and therefore will not be described herein.

For example, in <Table 4>, if the distance between the marked point E1 of the unupdated anchor point and the current device position p=[0, 0, 0.101125] is greater than the marked point E1 of the unupdated anchor point and the previous anchor The distance between points m=[0,0,0.020045]. The processor 120 determines that the marked point E1 of the unupdated anchor point is farther from the current device position p, indicating that the current device position p is not suitable as the corresponding anchor point.

At this time, the processor 120 will not update the corresponding anchor point m, that is, the previous anchor point m=[0, 0, 0.020045] as the current anchor point. For other points F1-H1 that do not update the anchor point, the processor 120 also does not update the corresponding anchor point m in this way, that is, the previous anchor point m=[0,0,0.020045] is used as the current anchor point, so I will not repeat them here.

Therefore, it can be seen from the above that the method and device for marking parameterized updating applied to the SLAM system provided by the embodiment of the present invention, the processor 120 will continuously determine whether the current position of the marker point parameterized updating device 100 is suitable as an anchor point. (eg, using the point of the unupdated anchor point, the distance relationship between the unupdated anchor point and the current device location as a basis for judging) to dynamically update the anchor point, reparameterize the marker point according to the updated anchor point, and The covariation matrix of the marker points is also updated. Accordingly, the marker point parameterization updating method and apparatus applied to the SLAM system can more accurately estimate the position of the marker point in the three-dimensional space and the trajectory, position and direction of the device moving in the three-dimensional space.

The above description is only an embodiment of the present invention, and is not intended to limit the invention. Benefit range.

S310, S320, S330, S340‧‧‧ steps

Claims (10)

A tag point parameterization updating method applied to a SLAM system is applicable to a device, and records a device position, an orientation, a plurality of marking points and an anchor point corresponding to each of the marking points during the traveling (anchor Point), each of the marked points represents position information of a corresponding feature point in a three-dimensional space in a picture, and the method for parameterized updating of the point includes: according to the corresponding parameterized value of the anchor point and the point Estimating that the location information of each of the marker points in the three-dimensional space is not updated; and in each of the marker points, determining whether the current location of the device is suitable as the corresponding anchor point; The device is adapted to be the corresponding anchor point, and the corresponding anchor point is updated to the current device location, according to the updated anchor point and the parameterized value of the marked point of the anchor point not updated or corresponding One of the feature points of the feature point produces a parameterized value of the current marker point, and the parameterized value of the marker point that is not updated by the anchor point is more than the parameterized value of the current marker point. a common variation matrix; and if it is determined that the current device location is not suitable as the corresponding anchor point, the corresponding anchor point is not updated, the covariation matrix is not updated, and the parameterized value of the marker point that is not updated is not updated. As the parameterized value of the current marker point. The parameter point parameterization updating method of claim 1, wherein, in each step of determining whether the current device location is suitable as the corresponding anchor point, the marking point of the anchor point is not updated, The relationship between the anchor point and the current location of the device is not updated as a basis for judgment. The parameter point parameterization updating method of claim 2, wherein the relationship between the marked point of the anchor point not updated, the updated anchor point and the current location of the device is a distance relationship; If the distance between the marked point that has not updated the anchor point and the current location of the device is less than or equal to the distance between the marked point where the anchor point is not updated and the anchor point is not updated, indicating that the current device location is suitable as Corresponding to the anchor point; and if the distance between the marked point that has not updated the anchor point and the current location of the device is greater than the distance between the marked point where the anchor point is not updated and the anchor point is not updated, indicating that the current This location is not suitable as the anchor point. The parameterized parameter updating method of claim 1, wherein the parameterized value of each of the marked points is represented by an inverse depth parametrization (IDP). The method according to claim 1, wherein the covariation matrix is represented by a matrix, and the matrix is associated with the device location of the device, the orientation, and a parameterized value of each of the markers. A marker point parameterization updating device applied to a SLAM system, comprising: a camera module for detecting a plurality of feature points in one picture of a traveling room; a processor electrically connecting the camera module to record during the traveling a device position, an orientation, a plurality of marker points, and an anchor point corresponding to each of the marker points, each of the marker points indicating position information of a corresponding feature point in a three-dimensional space in a picture, and performing the following steps : estimating, according to the corresponding parameterized value of the anchor point and the marker point, location information of each marker point in the three-dimensional space that is not updated; and determining, in each of the marker points, the current device Whether the location is suitable as the corresponding anchor point; if it is determined that the current device location is suitable as the corresponding anchor point, the processor updates the corresponding anchor point to the current device location, according to the updated anchor point and The parameterized value of the point of the anchor point is not updated or corresponds to One of the feature points of the feature point generates a parameterized value of the current marker point, and updates a common mutation matrix according to the parameterized value of the marker point that has not updated the anchor point and the parameterized value of the current marker point; The location of the device is not suitable as the corresponding anchor point, the processor does not update the corresponding anchor point, does not update the covariation matrix, and uses the parameterized value of the marker point that does not update the anchor point as the current marker point. The parameterized value. The tag point parameterization updating device of claim 6, wherein the processor determines the relationship between the tag point that does not update the anchor point, the update of the anchor point, and the current location of the device. The tag point parameterization updating device of claim 7, wherein the relationship between the tag point of the anchor point not updated, the anchor point not updated, and the current location of the device is a distance relationship; if the anchor point is not updated The distance between the marked point and the current location of the device is less than or equal to the distance between the marked point where the anchor point is not updated and the anchor point is not updated, indicating that the current device location is suitable as the corresponding anchor point; And if the distance between the marked point that does not update the anchor point and the current location of the device is greater than the distance between the marked point that does not update the anchor point and the point that is not updated, indicating that the current location is not suitable as the Anchor point. The tag point parameterization updating device of claim 6, wherein the processor has a sensing module that senses the device position and the orientation between the traveling. The tag point parameterization updating device of claim 6, wherein the covariation matrix is represented by a matrix, and the matrix is associated with the device location of the device, the orientation, and a parameterized value of each of the markers.