The present disclosure provides a system for operating a movable device. A computer includes a processor and a memory including instructions executable by the processor to generate a current keyframe point cloud based on a stereoscopic image pair as a stereoscopic camera travels through a scene, and determining a similar view query matrix and a relative view query matrix based on the current key frame point cloud. A distance matrix and a relative view distance matrix may be generated by comparing the similar view query matrix and the relative view query matrix to a reference matrix. A relative pose between a stereo camera and a reference may be determined by performing sequence matching in the distance matrix and the relative perspective distance matrix to determine a minimum sequence to determine a position in the scene during travel of the stereo camera through the scene.
本公开提供“用于操作可移动装置的系统”。一种计算机,所述计算机包括处理器和存储器,所述存储器包括指令,所述指令可由所述处理器执行以:在立体相机行进通过场景时基于立体图像对生成当前关键帧点云,并且基于所述当前关键帧点云来确定相似视角查询矩阵和相对视角查询矩阵。可以通过将所述相似视角查询矩阵和所述相对视角查询矩阵与参考矩阵进行比较来生成距离矩阵和相对视角距离矩阵。可以通过在所述距离矩阵和所述相对视角距离矩阵中执行序列匹配以确定最小序列来确定立体相机与参考之间的相对姿态,从而确定在所述立体相机行进通过所述场景期间所述场景中的位置。
System for operating movable device
用于操作可移动装置的系统
2024-12-31
Patent
Electronic Resource
Chinese
IPC: | G06V / B25J Manipulatoren , MANIPULATORS / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |