US 12,347,138 B2
Visual positioning based on a plurality of image frames
Hao Shen, Beijing (CN); Qiong Nie, Beijing (CN); and Huaxia Xia, Beijing (CN)
Assigned to Beijing Sankuai Online Technology Co., Ltd., Beijing (CN)
Appl. No. 17/799,900
Filed by Beijing Sankuai Online Technology Co., Ltd., Beijing (CN)
PCT Filed Nov. 16, 2020, PCT No. PCT/CN2020/129070
§ 371(c)(1), (2) Date Aug. 15, 2022,
PCT Pub. No. WO2021/169420, PCT Pub. Date Sep. 2, 2021.
Claims priority of application No. 202010124712.X (CN), filed on Feb. 27, 2020.
Prior Publication US 2023/0100776 A1, Mar. 30, 2023
Int. Cl. G06T 7/73 (2017.01); G01C 21/16 (2006.01); G06T 7/00 (2017.01)
CPC G06T 7/74 (2017.01) [G01C 21/165 (2013.01); G06T 7/0002 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/30168 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A vision positioning method, comprising:
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.