Feature map generation method and apparatus, storage medium, and computer device

A feature map generation apparatus comprising:

• at least one memory configured to store program code;
• and
• at least one processor configured to read the program code and operate as instructed by the program code, the program code comprising:
• feature extraction code configured to cause at least one of the at least one processor to obtain a plurality of image frames photographed for a target scene, separately extracting image feature points from each image frame of the plurality of image frames, and determine corresponding feature descriptors based on a position in a corresponding image at which the extracted image feature points are located;
• feature point set determining code configured to cause at least one of the at least one processor to form image feature points with a matching relationship in the image feature points of each image frame into a feature point set;
• difference calculation code configured to cause at least one of the at least one processor to determine a representative feature point from the feature point set, and calculate a difference between a feature descriptor corresponding to a remaining image feature point in the feature point set and a feature descriptor corresponding to the representative feature point;
• position update code configured to cause at least one of the at least one processor to determine a position error of the feature point set based on the difference, iteratively update the remaining image feature point in the feature point set based on the position error, and obtain an updated feature point set based on an iteration stop condition being satisfied;
• and
• feature map generation code configured to cause at least one of the at least one processor to determine a space feature point corresponding to the updated feature point set based on a position in the corresponding image at which each image feature point in the updated feature point set is located, and generate a feature map based on the space feature point, the feature map positioning a to-be-positioned moving device in the target scene.

A non-transitory computer-readable storage medium storing computer code which, when executed by at least one processor, causes the at least one processor to at least:

• obtain a plurality of image frames photographed for a target scene, separately extract image feature points from each image frame of the plurality of image frames, and determine corresponding feature descriptors based on a position in a corresponding image at which the extracted image feature points are located;
• form image feature points with a matching relationship in the image feature points of the each image frame into a feature point set;
• determine a representative feature point from the feature point set, and calculate a difference between a feature descriptor corresponding to a remaining image feature point in the feature point set and a feature descriptor corresponding to the representative feature point;
• determine a position error of the feature point set based on the difference, iteratively update the remaining image feature point in the feature point set based on the position error, and obtain an updated feature point set based on an iteration stop condition being satisfied;
• and
• determine a space feature point corresponding to the updated feature point set based on a position in the corresponding image at which each image feature point in the updated feature point set is located, and generate a feature map based on the space feature point, the feature map positioning a to-be-positioned moving device in the target scene.