Title:
VISUAL LOCALIZATION METHOD AND RELATED APPARATUS
Document Type and Number:
WIPO Patent Application WO/2024/083010
Kind Code:
A1
Abstract:
Disclosed in embodiments of the present application are a visual localization method and a related apparatus, applicable to the field of traffic. The method comprises: obtaining a first image acquired by an image acquisition device when being located at a reference position; determining, from high-precision images corresponding to the reference position stored in a visual fingerprint library, a reference high-precision image matching the first image, the visual fingerprint library being used for storing high-precision images corresponding to an outdoor scene acquired by a high-precision device and three-dimensional position information of feature points in the high-precision images in the world coordinate system, and data stored in the visual fingerprint library being updated according to standard-precision images acquired by a common device; determining a target matching feature point pair according to feature points having the matching relationship in the first image and the reference high-precision image; and determining a high-precision localization result of the image acquisition device according to the three-dimensional position information of the feature point belonging to the reference high-precision image and two-dimensional position information of the feature point belonging to the first image in the target matching feature point pair. The method can achieve high-precision outdoor scene localization.
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Inventors:
WANG HAICHUAN (CN)
Application Number:
PCT/CN2023/123970
Publication Date:
April 25, 2024
Filing Date:
October 11, 2023
Export Citation:
Assignee:
TENCENT TECH SHENZHEN CO LTD (CN)
International Classes:
G06T7/73
Domestic Patent References:
| WO2022206255A1 | 2022-10-06 |
Foreign References:
| CN109186616A | 2019-01-11 | |||
| CN106447585A | 2017-02-22 | |||
| CN113580134A | 2021-11-02 | |||
| US20110243455A1 | 2011-10-06 |
Attorney, Agent or Firm:
SHENPAT INTELLECTUAL PROPERTY AGENCY (CN)
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