US 12,293,457 B2
Positioning method based on semantic information, device and computer-readable storage medium
Tiecheng Sun, Shenzhen (CN); and Jichao Jiao, Shenzhen (CN)
Assigned to UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed by UBTECH ROBOTICS CORP LTD, Shenzhen (CN)
Filed on Jul. 12, 2023, as Appl. No. 18/220,835.
Claims priority of application No. 202210854066.1 (CN), filed on Jul. 13, 2022.
Prior Publication US 2024/0020923 A1, Jan. 18, 2024
Int. Cl. G06T 17/05 (2011.01); G06T 5/40 (2006.01); G06T 7/11 (2017.01); G06T 7/12 (2017.01); G06V 10/44 (2022.01); G06V 10/74 (2022.01)
CPC G06T 17/05 (2013.01) [G06T 5/40 (2013.01); G06T 7/11 (2017.01); G06T 7/12 (2017.01); G06V 10/44 (2022.01); G06V 10/761 (2022.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented positioning method based on semantic information, the method comprising:
performing semantic segmentation on an acquired RGBD image to obtain a semantic label of each pixel of the RGBD image;
performing reconstruction of a point cloud based on the RGBD image and mapping the semantic label of each pixel of the RGBD image into the point cloud to respectively obtain a semantic point cloud of a current frame with the semantic labels and a three-dimensional scene semantic map with the semantic labels;
generating two-dimensional discrete semantic feature points for each of three-dimensional semantic point clouds in the current frame and the semantic map to obtain a corresponding two-dimensional semantic feature point image, and performing a three-dimensional semantic feature description on each feature point in the two-dimensional semantic feature point image; and
performing feature matching on all feature points in the current frame and all feature points in the semantic map to obtain positioning information based on the three-dimensional semantic feature description.