Title:
POSITIONING METHOD AND APPARATUS FOR INTELLIGENT TERMINAL DEVICE, AND ASSOCIATED INTELLIGENT TERMINAL DEVICE
Document Type and Number:
WIPO Patent Application WO/2018/214605
Kind Code:
A1
Abstract:
The present disclosure relates to a positioning method and apparatus for an intelligent terminal device, and an associated intelligent terminal device. The positioning method for an intelligent terminal device comprises: obtaining data points scanned, at a current location of the intelligent terminal device, by a location detection apparatus of the intelligent terminal device; converting a valid data point among the data points into a line segment feature to obtain a first line segment feature set corresponding to the current location; converting a point feature in an established map of the intelligent terminal device into a line segment feature, so as to obtain a second line segment feature set corresponding to the established map of the intelligent terminal device; respectively selecting line segments having the same positional relationship from the first line segment feature set and the second line segment feature set to form a first candidate subset of the first line segment feature set and a second candidate subset of the second line segment feature set; and determining a transformation matrix for matching the first candidate subset with the second candidate subset, and marking, based on the transformation matrix and in the established map, the current position and an orientation angle of the intelligent terminal device. By converting a point feature into a line segment feature and by using line segment matching, time spent in a matching process is shortened.
Inventors:
SU HAIJUN (CN)
ZHAO KAI (CN)
LI YUE (CN)
ZHAO KAI (CN)
LI YUE (CN)
Application Number:
PCT/CN2018/077256
Publication Date:
November 29, 2018
Filing Date:
February 26, 2018
Export Citation:
Assignee:
BOE TECHNOLOGY GROUP CO LTD (CN)
International Classes:
G06T7/73; G06V10/42; G06V10/48
Foreign References:
| CN107204014A | 2017-09-26 | |||
| CN105246039A | 2016-01-13 | |||
| JP2003005833A | 2003-01-08 | |||
| CN106092104A | 2016-11-09 | |||
| CN103853901A | 2014-06-11 | |||
| CN105424026A | 2016-03-23 |
Attorney, Agent or Firm:
CHINA PATENT AGENT (H.K.) LTD. (CN)
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