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1. WO2021057742 - POSITIONING METHOD AND APPARATUS, DEVICE, AND STORAGE MEDIUM

Publication Number WO/2021/057742
Publication Date 01.04.2021
International Application No. PCT/CN2020/116924
International Filing Date 22.09.2020
IPC
G06K 9/46 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
46Extraction of features or characteristics of the image
G06K 9/62 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
CPC
G06K 9/4609
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
36Image preprocessing, i.e. processing the image information without deciding about the identity of the image
46Extraction of features or characteristics of the image
4604Detecting partial patterns, e.g. edges or contours, or configurations, e.g. loops, corners, strokes, intersections
4609by matching or filtering
G06K 9/6215
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
62Methods or arrangements for recognition using electronic means
6201Matching; Proximity measures
6215Proximity measures, i.e. similarity or distance measures
Applicants
  • OPPO广东移动通信有限公司 GUANGDONG OPPO MOBILE TELECOMMUNICATIONS CORP., LTD. [CN]/[CN]
Inventors
  • 金珂 JIN, Ke
  • 杨宇尘 YANG, Yuchen
  • 陈岩 CHEN, Yan
  • 方攀 FANG, Pan
Agents
  • 北京派特恩知识产权代理有限公司 CHINA PAT INTELLECTUAL PROPERTY OFFICE
Priority Data
201910921484.627.09.2019CN
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) POSITIONING METHOD AND APPARATUS, DEVICE, AND STORAGE MEDIUM
(FR) PROCÉDÉ ET APPAREIL DE POSITIONNEMENT, DISPOSITIF ET SUPPORT DE STOCKAGE
(ZH) 定位方法及装置、设备、存储介质
Abstract
(EN)
Disclosed in embodiments of the present application are a positioning method and apparatus, a device, and a storage medium. The method comprises: determining a feature point in an image to be processed collected by an image collection device; obtaining attribute information of the feature point; and matching the attribute information of the feature point with attribute information of a plurality of sampling points in a pre-constructed point cloud map to obtain a positioning result of the image collection device, wherein world coordinates in the attribute information of the sampling points are the world coordinates of sampling points in a sample image.
(FR)
La présente invention concerne, selon des modes de réalisation, un procédé et un appareil de positionnement, un dispositif et un support de stockage. Le procédé consiste à : déterminer un point caractéristique dans une image à traiter collectée par un dispositif de collecte d'image ; obtenir des informations d'attribut du point caractéristique ; et mettre en correspondance les informations d'attribut du point caractéristique avec des informations d'attribut d'une pluralité de points d'échantillonnage dans une carte de nuage de points pré-construite pour obtenir un résultat de positionnement du dispositif de collecte d'image, les coordonnées générales dans les informations d'attribut des points d'échantillonnage étant les coordonnées générales des points d'échantillonnage dans un échantillon d'image.
(ZH)
本申请实施例公开了定位方法及装置、设备、存储介质,其中,所述方法包括:确定图像采集设备所采集的待处理图像中的特征点;获取所述特征点的属性信息;将所述特征点的属性信息与预先构建的点云地图中多个采样点的属性信息进行匹配,得出所述图像采集设备的定位结果;其中,所述采样点的属性信息中的世界坐标是样本图像中的采样点的世界坐标。
Also published as
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