Title:
SPATIAL POSITIONING METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2023/025175
Kind Code:
A1
Abstract:
The present disclosure provides a spatial positioning method and apparatus. The method comprises: collecting a first image of a second device, the first image comprising 2D points of the second device and descriptors corresponding to the 2D points; performing feature point matching on the 2D points of the second device and 3D points on a 3D model of the second device by using the descriptors corresponding to the 3D points on the 3D model of the second device and the descriptors corresponding to the 2D points to obtain a first correspondence between at least three non-collinear 2D points of the second device and the 3D points of the 3D model of the second device, the 3D model of the second device comprising the 3D points and the descriptors corresponding to the 3D points; determining a position of the 3D model of the second device in a world coordinate system according to a position of the second device in the world coordinate system and a second correspondence between the second device and the 3D model; and determining a pose of a first device in the world coordinate system according to the position of the 3D model of the second device in the world coordinate system and the first correspondence.
Inventors:
LV XIANWEI (CN)
Application Number:
PCT/CN2022/114388
Publication Date:
March 02, 2023
Filing Date:
August 24, 2022
Export Citation:
Assignee:
BEIJING UNICORN TECH CO LTD (CN)
International Classes:
G06T7/80
Foreign References:
| CN113658278A | 2021-11-16 | |||
| CN110555880A | 2019-12-10 | |||
| CN109214980A | 2019-01-15 | |||
| CN110298877A | 2019-10-01 | |||
| CN103793705A | 2014-05-14 | |||
| US20210142508A1 | 2021-05-13 |
Attorney, Agent or Firm:
NTD UNIVATION INTELLECTUAL PROPERTY AGENCY LTD. (CN)
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