公开(公告)号：US11244473B2

公开(公告)日：2022-02-08

申请号：US16716801

申请日：2019-12-17

Applicant: Beijing Horizon Robotics Technology Research and Development Co., Ltd.

Inventor： Shuai Yang

IPC: G06T7/73 ,  G06T7/13

Abstract: A positioning method of a mobile device includes: determining a first position and orientation parameter of a mobile device when a current frame image is captured, and determining a straight line corresponding to a preset sign in the current frame image; determining a plurality of second position and orientation parameters based on the first position and orientation parameter; determining, in a high-definition map, point cloud data within a preset range of a geographic location when the current frame image is captured; converting the point cloud data within the preset range into a pixel plane-coordinate system to obtain a plurality of second image coordinate sets; determining, based on distances from image coordinates in the plurality of second image coordinate sets to the straight line, a position and orientation parameter of the mobile device when the current frame image is captured among the plurality of second position and orientation parameters.