Method device and storage medium for back-end optimization of simultaneous localization and mapping
AssigneeBeijing Zitiao Network Technology Co., Ltd.
InventorJiawei Wen
Life of this patent
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Abstract
The disclosure provides a method, device and storage medium for back-end optimization of simultaneous localization and mapping. In the method, a target three-dimensional space point is determined in three-dimensional space points of a plurality of key frames located by a simultaneous localization and mapping system. In addition, a reprojection error is determined based on the target three-dimensional space point, and a weight is provided for the reprojection error by preprocessing the maximum parallax corresponding to the target three-dimensional space point, to obtain the relative reprojection error.
Claims20
A method of back-end optimization of simultaneous localization and mapping, comprising:
- determining a target three-dimensional space point in three-dimensional space points of a plurality of key frames located by a simultaneous localization and mapping system;
- determining a reprojection error based on the target three-dimensional space point;
- determining a relative reprojection error based on the reprojection error and a maximum parallax corresponding to the target three-dimensional space point after preprocessing, the preprocessing comprising an operation of removing influence of rotation;
- and
- performing back-end optimization to the simultaneous localization and mapping system based on the relative reprojection error.
A device for back-end optimization of simultaneous localization and mapping, comprising:
- a processor;
- a memory;
- and
- a computer program;
- wherein the computer program is stored in the memory and is configured to be executed by the processor, the computer program comprising instructions for performing operations comprising:
- determining a target three-dimensional space point in three-dimensional space points of a plurality of key frames located by a simultaneous localization and mapping system,
- determining a reprojection error based on the target three-dimensional space point,
- determining a relative reprojection error based on the reprojection error and a maximum parallax corresponding to the target three-dimensional space point after preprocessing, the preprocessing comprising an operation of removing influence of rotation;
- and
- performing back-end optimization to the simultaneous localization and mapping system based on the relative reprojection error.
A non-transitory computer-readable storage medium storing a computer program, wherein when executed by a processor, causes the processor to:
- determine a target three-dimensional space point in three-dimensional space points of a plurality of key frames located by a simultaneous localization and mapping system;
- determine a reprojection error based on the target three-dimensional space point;
- determine a relative reprojection error based on the reprojection error and a maximum parallax corresponding to the target three-dimensional space point after preprocessing, the preprocessing comprising an operation of removing influence of rotation;
- and
- perform back-end optimization to the simultaneous localization and mapping system based on the relative reprojection error.
Dependencies are inferred from the claim text.