BINOCULAR VISION POSITIONING METHOD, DEVICE, AND SYSTEM

WIPO Patent Application WO/2019/062291

A1

Provided are a binocular vision positioning method, device, and system. The method comprises: calculating first pose change information according to two image frames acquired by a binocular camera unit at two consecutive moments (101); calculating second pose change information according to inertia parameters acquired by an inertia measurement unit between the two consecutive moments (102); respectively extracting, from the two image frames, matching feature points on the two image frames, and calculating a re-projection error of each of the feature points (103); and obtaining optimized third pose change information for use in positioning by using results obtained by the calculations above as nodes or edges of a universal map optimization algorithm (104). The system comprises: a binocular vision positioning device, and a binocular camera unit and an inertial measurement unit which are connected to the binocular vision positioning device. A left-eye camera and a right-eye camera of the binocular camera unit are symmetrically positioned on both sides of the inertial measurement unit. The positioning method can improve the estimation accuracy and the real-time property of a position and attitude.

SONG HAORAN (CN)
DAI TIANRONG (CN)
REN YUCHUAN (CN)
LI SHUNMING (CN)
CAO JINXI (CN)

PCT/CN2018/096185

April 04, 2019

July 18, 2018

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GOERTEK INC (CN)

G01C21/20; G01C21/16; G05D1/02

CN107747941A	2018-03-02
CN107193279A	2017-09-22
CN107085422A	2017-08-22
CN106052683A	2016-10-26
CN103345751A	2013-10-09
CN106708066A	2017-05-24
CN102109348A	2011-06-29

TEKYRS INTELLECTUAL PROPERTY INC. (CN)

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