Title:
VISUAL FEATURE LIBRARY CONSTRUCTION METHOD AND APPARATUS, VISUAL POSITIONING METHOD AND APPARATUS, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/027692
Kind Code:
A1
Abstract:
The present application provides a visual feature library construction method and apparatus, a visual positioning method and apparatus, and a storage medium. The visual feature library construction method comprises: obtaining library construction images and performing feature extraction on the library construction images to obtain the feature points of the library construction images and the descriptors of the feature points of the library construction images; and intersecting the ray corresponding to the feature points of the library construction images with a 3D model, determining the 3D positions of the intersections of the ray and the 3D model as the 3D positions of the feature points of the library construction images, and then writing the descriptors of the feature points of the library construction images and the library construction images into a visual feature library, so as to complete the construction of the visual feature library. According to the present application, the information of a larger number of feature points is obtained from the library construction images when the number of library construction images is certain, so that the constructed visual feature library includes the information of a larger number of feature points of the library construction images, facilitating better visual positioning according to the visual feature library.
Inventors:
DU SILIANG (CN)
KANG ZEHUI (CN)
FANG WEI (CN)
KANG ZEHUI (CN)
FANG WEI (CN)
Application Number:
PCT/CN2020/107597
Publication Date:
February 18, 2021
Filing Date:
August 07, 2020
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G06T7/73; G06V10/40; G06V10/74; G06V20/64
Foreign References:
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| US20080247635A1 | 2008-10-09 | |||
| CN102075686A | 2011-05-25 | |||
| CN106447585A | 2017-02-22 | |||
| CN105225240A | 2016-01-06 | |||
| CN102867057A | 2013-01-09 | |||
| CN105389569A | 2016-03-09 | |||
| CN107742311A | 2018-02-27 | |||
| CN103954970A | 2014-07-30 |
Attorney, Agent or Firm:
LONGSUN LEAD IP LTD. (CN)
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