Title:
END-TO-END VISUAL ODOMETRY METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2024/082602
Kind Code:
A1
Abstract:
The present application belongs to the technical field of autonomous driving. Disclosed are an end-to-end visual odometry method and apparatus. The end-to-end visual odometry method comprises: acquiring image information of the current frame and image information of a previous frame; acquiring brightness image information of the current frame and brightness image information of the previous frame; acquiring fused image information of the current frame; acquiring fused image information of the previous frame of the current frame; by means of a skip-fusion-FCNN method, performing feature extraction on the fused image information of the current frame and the fused image information of the previous frame of the current frame, so as to acquire fused image features; and, according to the fused image features, acquiring position and orientation estimation information of a camera apparatus. The method of the present application can enhance the contrast of images and provide more detail information, thus improving the precision of image feature extraction, and reducing errors during the position and orientation estimation processes.
Inventors:
WANG YINAN (CN)
LIANG GUIYOU (CN)
GUAN YINGZHOU (CN)
CAO LIJUN (CN)
ZHAI NUO (CN)
WANG DI (CN)
CAO RONGCHUAN (CN)
ZHANG TIANQI (CN)
LIANG GUIYOU (CN)
GUAN YINGZHOU (CN)
CAO LIJUN (CN)
ZHAI NUO (CN)
WANG DI (CN)
CAO RONGCHUAN (CN)
ZHANG TIANQI (CN)
Application Number:
PCT/CN2023/091529
Publication Date:
April 25, 2024
Filing Date:
April 28, 2023
Export Citation:
Assignee:
CHINA FAW CO LTD (CN)
International Classes:
G06T5/50; G06N3/04
Foreign References:
| CN115358962A | 2022-11-18 | |||
| CN112648994A | 2021-04-13 | |||
| CN110246147A | 2019-09-17 | |||
| CN111080699A | 2020-04-28 | |||
| US20190065885A1 | 2019-02-28 |
Attorney, Agent or Firm:
BEIJING XIANGYU PATENT AGENCY (GENERAL PARTNERSHIP) (CN)
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