Visual positioning based on a plurality of image frames
US12347138B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 16, 2020 |
| Grant date | Jul 1, 2025 |
| Priority date | — |
| Expiry date | Dec 22, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30168
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A visual positioning method and apparatus are provided. In some embodiments, the method includes: acquiring a video captured by an image sensor; determining visual positioning information respectively corresponding to a plurality of key image frames in the video; determining a capture pose transformation relationship between each of the plurality of key image frames according to inertial navigation information of the image sensor recorded when taking the video; performing, according to the visual positioning information corresponding to each of the plurality of key image frames, graph optimization processing on the visual positioning information corresponding to each of the plurality of key image frames by using the capture pose transformation relationship between each of the plurality of key image frames as an edge constraint; and determining, according to a result of the graph optimization processing, a visual positioning result of the image sensor when taking the video.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.