US 2022/0036065 A1 · LOOP CLOSURE DETECTION METHOD, MOBILE DEVICE AND COMPUTER READABLE STORAGE MEDIUM

Abstract

The present disclosure provides a loop closure detection method, a mobile device, and a computer readable storage medium. The method includes: collecting images in different detection directions simultaneously through C0 cameras installed on the mobile device to obtain an image data group comprising C0 images; calculating feature information of each image in the image data group; performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread; and determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread. In this manner, cross detections in a plurality of detection directions can be realized, which breaks through the limitation of loop closure detection in the prior art with respect to path direction, avoids repeated paths in the same direction, and greatly improves the mapping efficiency.

Claims20

Dependent claims

A computer-implemented loop closure detection method for a mobile device, comprising steps of:

collecting images in different detection directions simultaneously through C0 cameras installed on the mobile device to obtain an image data group comprising C0 images, wherein C0 is an integer larger than 1;
calculating feature information of each image in the image data group;
performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread, wherein each sub-thread corresponds to the loop closure detection in one detection direction;
and
determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread.

2 more elements

A mobile device, comprising:

C0 cameras;
a memory;
a processor;
and
one or more computer programs stored in the memory and executable on the processor, wherein the one or more computer programs comprise:
instructions for collecting images in different detection directions simultaneously through the C0 cameras to obtain an image data group comprising C0 images, wherein C0 is an integer larger than 1;
instructions for calculating feature information of each image in the image data group;
instructions for performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread, wherein each sub-thread corresponds to the loop closure detection in one detection direction;
and
instructions for determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread.

7 more elements

A non-transitory computer-readable storage medium storing one or more computer programs executable on a processor to implement a loop closure detection method, wherein the one or more computer programs comprise:

instructions for collecting images in different detection directions simultaneously through C0 cameras installed on a mobile device to obtain an image data group comprising C0 images, wherein C0 is an integer larger than 1;
instructions for calculating feature information of each image in the image data group;
instructions for performing a loop closure detection in C0 sub-threads respectively based on the feature information to obtain a loop closure detection result of each sub-thread, wherein each sub-thread corresponds to the loop closure detection in one detection direction;
and
instructions for determining a loop closure detection result of the mobile device based on the loop closure detection result of each sub-thread.

2 more elements

Dependencies are inferred from the claim text.

Loop closure detection method, mobile device and computer readable storage medium

Life of this patent

Loop closure detection method, mobile device and computer readable storage medium

Life of this patent

Abstract

Claims20