Ground texture image-based navigation method and device, and storage medium
US11644338B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 3, 2020 |
| Grant date | May 9, 2023 |
| Priority date | — |
| Expiry date | Feb 23, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A navigation method based on ground texture images, an electronic device and storage medium. The method includes: performing transform domain based image registration on an acquired image of a current frame and an image of a previous frame, and determining a first pose of the image of the current frame; determining whether the image of the current frame meets a preset condition, and if so, inserting the image of the current frame as the key-frame image into a map, and performing loop closure detection and determining a loop key-frame image; performing transform domain based image registration on the image of the current frame and the loop key-frame image, and determining a second pose of the image of the current frame; and determining an accumulated error according to the first pose and the second pose, and correcting the map according to the accumulated error.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.