According to some aspects of the present disclosure, a method for loading a visual localization map is provided. The method may include: localizing a current pose; predicting, based on the current pose, a set of group numbers to be loaded for the visual localization map, wherein each group number in the set of group numbers to be loaded corresponds to a sub-map file of the visual localization map, wherein the visual localization map includes a master map file and a plurality of sub-map files, wherein the plurality of sub-map files respectively store map data of corresponding groups obtained by grouping the visual localization map based on key frames, and wherein key frame index information for indexing the plurality of sub-map files is stored in the master map file; and loading corresponding sub-map files based on the group numbers in the set of group numbers to be loaded.
Methods, apparatuses, systems, and storage media for loading visual localization maps
2022-08-02
Patent
Elektronische Ressource
Englisch
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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