公开(公告)号：US20230089845A1

公开(公告)日：2023-03-23

申请号：US18070862

申请日：2022-11-29

Applicant: Huawei Technologies Co., Ltd.

Inventor： Wensen Feng ,  Huan Zhang ,  Jun Cao ,  Jiange Ge ,  Zhongwei Tang ,  Jiangwei Li

IPC: G06T7/73 ,  G01C21/00 ,  G06T7/12 ,  G06T11/00

Abstract: A visual localization method includes obtaining an image captured by a terminal device; obtaining two-dimensional line feature information of the image that includes at least one of information about a boundary between a building and a non-building or information about a boundary between a non-building and a non-building; and determining a localization pose of the terminal device based on location information of the terminal device, magnetometer angle deflection information of the terminal device, a satellite map, and the two-dimensional line feature information.