Title:
TRAINING METHOD FOR VISUAL INERTIAL ODOMETER MODEL, POSTURE ESTIMATION METHOD AND APPARATUSES, ELECTRONIC DEVICE, COMPUTER-READABLE STORAGE MEDIUM, AND PROGRAM PRODUCT
Document Type and Number:
WIPO Patent Application WO/2023/165093
Kind Code:
A1
Abstract:
The present disclosure discloses a training method for a visual inertial odometer model, a posture estimation method and apparatuses, an electronic device, a computer-readable storage medium, and a program product. The training method for a visual inertial odometer model comprises: inputting two adjacent frames of sample color images in a sample image set and sample IMU data corresponding to the two adjacent frames of sample color images into a visual inertial odometer model, and outputting two frames of depth images corresponding to the two adjacent frames of sample color images and an estimated posture when an image collection apparatus obtains the two adjacent frames of sample color images; determining an objective loss function of the visual inertial odometer model on the basis of the two frames of depth images corresponding to the two adjacent frames of sample color images, the estimated posture when the image collection apparatus obtains the two adjacent frames of sample color images, and the corresponding sample IMU data between the two adjacent frames of sample color images; and adjusting network parameters of the visual inertial odometer model by using the objective loss function. According to the foregoing solution, a robust posture estimation result can be obtained.
Inventors:
PAN YOUQI (CN)
ZHA HONGBIN (CN)
LIU HAOMIN (CN)
ZHA HONGBIN (CN)
LIU HAOMIN (CN)
Application Number:
PCT/CN2022/112430
Publication Date:
September 07, 2023
Filing Date:
August 15, 2022
Export Citation:
Assignee:
SHANGHAI SENSETIME INTELLIGENT TECH CO LTD (CN)
International Classes:
G06N20/00; G06T7/73
Foreign References:
| CN114612556A | 2022-06-10 | |||
| CN111311685A | 2020-06-19 | |||
| CN112556692A | 2021-03-26 | |||
| CN111369608A | 2020-07-03 | |||
| CN112348854A | 2021-02-09 | |||
| CN112729294A | 2021-04-30 | |||
| CN113091738A | 2021-07-09 | |||
| CN113221726A | 2021-08-06 | |||
| US20180031387A1 | 2018-02-01 | |||
| US20220036577A1 | 2022-02-03 |
Attorney, Agent or Firm:
CHINA PAT INTELLECTUAL PROPERTY OFFICE (CN)
Download PDF: