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Title:
VISUAL SLAM METHOD AND APPARATUS BASED ON POINT AND LINE CHARACTERISTIC
Document Type and Number:
WIPO Patent Application WO/2019/057179
Kind Code:
A1
Abstract:
A visual SLAM method and apparatus based on a point and line characteristic, which can improve the accuracy of visual SLAM by combining information about a characteristic point and a characteristic line in a visual image frame. The method involves: receiving a visual image frame input by a camera; extracting a characteristic point and a characteristic line of the visual image frame; predicting a first pose of the photography device by using the characteristic point; observing an extracted first characteristic line so as to determine a characteristic line observation quantity of the first characteristic line; acquiring a global characteristic line state vector set of the photography device, wherein the global characteristic line state vector set comprises characteristic line state vectors of N historical characteristic lines, with N being a positive integer; and updating the first pose by using the characteristic line observation quantity and the global characteristic line state vector set. The method integrates a motion estimate, which is based on a characteristic point, and observational characteristics of a characteristic line observed in an environment to update the pose of a photography device in real time, thereby improving the accuracy of visual SLAM.

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Inventors:
LI WANLONG (CN)
LI JIANFEI (CN)
GAO YAJUN (CN)
Application Number:
PCT/CN2018/107097
Publication Date:
March 28, 2019
Filing Date:
September 21, 2018
Export Citation:
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Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G06V20/10
Foreign References:
CN106897666A2017-06-27
CN106444757A2017-02-22
CN103886107A2014-06-25
CN201710868034A2017-09-22
CN201810184021A2018-03-06
Other References:
XIE, XIAOJIA: "Stereo Visual SLAM Using Point and Line Features ", ELECTRONIC TECHNOLOGY & INFORMATION SCIENCE CHINA MATERS THESES, 15 August 2017 (2017-08-15), XP055684025
HYUKDOO CHOI: "CV-SLAM using Line and Point Features", 12TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND SYSTEMS 2012 12 31, 31 December 2012 (2012-12-31), XP032291427
Attorney, Agent or Firm:
TDIP & PARTNERS (CN)
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