US 11,721,037 B2
Indoor positioning method and apparatus, electronic device and storage medium
Zhaohu Li, Beijing (CN)
Assigned to BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD., Beijing (CN)
Filed by Beijing Baidu Netcom Science and Technology Co., Ltd., Beijing (CN)
Filed on Mar. 15, 2021, as Appl. No. 17/202,192.
Claims priority of application No. 202010522041.2 (CN), filed on Jun. 10, 2020.
Prior Publication US 2021/0390732 A1, Dec. 16, 2021
Int. Cl. G06T 19/00 (2011.01); G06T 7/73 (2017.01)
CPC G06T 7/73 (2017.01) [G06T 19/003 (2013.01); G06T 2207/30244 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for indoor positioning, comprising:
extracting descriptors of structure lines in a specified image collected by a terminal indoors;
based on the descriptors of the structure lines in the specified image and descriptors of structure lines of images comprised in a pre-established indoor image database, acquiring, from the indoor image database, target structure line descriptors closest to the descriptors of the structure lines in the specified image; and
acquiring pose information of the terminal based on a pre-established indoor three-dimensional (3D) structure line map and the target structure line descriptors corresponding to the descriptors of the structure lines in the specified image.