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Title:
VISUAL ODOMETRY AND IMPLEMENTATION METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2019/084804
Kind Code:
A1
Abstract:
Disclosed is a visual odometry implementation method. The method comprises: acquiring a first image collected at a first moment by a photographic device and a second image collected at a second moment by same, wherein the first moment is before the second moment; based on pose information of the photographic device at the first moment, estimating pose estimation information of the photographic device at the second moment; based on the pose information at the first moment and the pose estimation information at the second moment, performing projection transformation on at least one of the first image and the second image to obtain two images in the same coordinate system; performing feature point matching in the two images in the same coordinate system; and based on matching feature points in the two images, calculating pose information of the photographic device at the second moment. Further disclosed are visual odometry, an unmanned device, an augmented reality device, a virtual reality device and a readable storage medium.

Inventors:
ZHOU, You (6/F HKUST SZ IER Bldg, 9 Yuexing 1st Rd Hi-Tech Park , Nanshan Distric, Shenzhen Guangdong 7, 518057, CN)
YE, Changchun (6/F HKUST SZ IER Bldg, 9 Yuexing 1st Rd Hi-Tech Park , Nanshan Distric, Shenzhen Guangdong 7, 518057, CN)
YAN, Jiaqi (6/F HKUST SZ IER Bldg, 9 Yuexing 1st Rd Hi-Tech Park , Nanshan Distric, Shenzhen Guangdong 7, 518057, CN)
Application Number:
CN2017/108684
Publication Date:
May 09, 2019
Filing Date:
October 31, 2017
Export Citation:
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Assignee:
SZ DJI TECHNOLOGY CO., LTD (6/F HKUST SZ IER Bldg, 9 Yuexing 1st Rd Hi-Tech Park , Nanshan Distric, Shenzhen Guangdong 7, 518057, CN)
International Classes:
G01C22/00; G01C11/20; G01C11/36
Foreign References:
CN102538781A2012-07-04
CN105513083A2016-04-20
CN102519481A2012-06-27
CN105976402A2016-09-28
US20090263009A12009-10-22
US20080167814A12008-07-10
Attorney, Agent or Firm:
CHINA WISPRO INTELLECTUAL PROPERTY LLP. (Room A806, Zhongdi BuildingChina University of Geosciences Base,No.8 Yuexing 3rd Road, High-Tech Industrial Estate,Nanshan Distric, Shenzhen Guangdong 7, 518057, CN)
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