CPC G06T 7/73 (2017.01) [G06T 19/003 (2013.01); G06T 2207/30244 (2013.01)] | 20 Claims |
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.
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