The invention provides a visual odometer, a vehicle and a positioning method, and relates to the technical field of artificial intelligence. Wherein the visual odometer comprises a processing module and a positioning module, the processing module is connected with the positioning module, the processing module is used for acquiring a virtual key frame set, the virtual key frame set comprises virtual key frames corresponding to a plurality of moments, and each virtual key frame comprises image data acquired by at least two cameras at the same moment; the processing module is further used for obtaining initialized map data based on the virtual key frame set, the initialized map data is used for describing spatial points and a target association relationship, and the target association relationship is an association relationship of image data of the same spatial point in the image data of the virtual key frame set; and the positioning module is used for positioning based on the initialized map data and determining pose data. According to the embodiment of the invention, the robustness of the visual odometer can be improved.

    本申请提供了一种视觉里程计、车辆及定位方法,涉及人工智能技术领域。其中,视觉里程计包括处理模块和定位模块,处理模块和定位模块相连接,其中:处理模块,用于获取虚拟关键帧集合,虚拟关键帧集合包括多个时刻对应的虚拟关键帧,每个虚拟关键帧包括至少两个相机在相同时刻采集的图像数据;处理模块,还用于基于虚拟关键帧集合获取初始化地图数据,其中,初始化地图数据用于描述空间点,以及目标关联关系,目标关联关系为虚拟关键帧集合的图像数据中包括相同空间点的图像数据的关联关系;定位模块,用于基于初始化地图数据进行定位,确定位姿数据。本申请实施例能够提高视觉里程计的鲁棒性。


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    Title :

    Visual odometer, vehicle and positioning method


    Additional title:

    视觉里程计、车辆及定位方法


    Contributors:
    WANG CUI (author)

    Publication date :

    2023-04-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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