公开(公告)号：US20200218929A1

公开(公告)日：2020-07-09

申请号：US16824219

申请日：2020-03-19

Applicant: Huawei Technologies Co., Ltd.

Inventor： Wanlong LI ,  Jianfei LI ,  Yajun GAO

IPC: G06K9/46 ,  G06K9/00

Abstract: The method is: receiving a visual image frame input by a camera; extracting feature points and feature lines of the visual image frame; predicting a first pose of the camera device by using the feature points; observing an extracted first feature line, to determine a feature line measurement of the first feature line; obtaining a global feature line state vector set of the camera device, where the global feature line state vector set includes feature line state vectors of N historical feature lines, and N is a positive integer; and updating the first pose by using the feature line measurement and the global feature line state vector set. In this way, feature point-based motion estimations and observation features of feature lines observed in an environment are integrated, to update a pose of the camera device in real time, thereby improving visual SLAM accuracy.

公开(公告)号：US20230093020A1

公开(公告)日：2023-03-23

申请号：US17993093

申请日：2022-11-23

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Jianfei LI ,  Aixue YE ,  Yajun GAO ,  Feng WEN

IPC: G01C21/00 ,  G01C21/36

Abstract: A positioning method, which relates to the positioning field and is applied to target positioning in a spatially overlapping scenario, is disclosed. The positioning method can avoid a positioning error in the spatially overlapping scenario. The method includes: constructing a local topology map of a target at a current moment based on identifiers of segments and one or more connection relationships among at least some of the segments, wherein the identifiers of the segments and the one or more connection relationships are prestored in map information; and determining, by using the local topology map, a specific road segment in which a target located in a spatially overlapping region is located at a next moment. In addition, a positioning map linked with a road segment may be further stored in the map information, and a positioning map linked with a positioned road segment is determined based on the positioned road segment, to implement high-precision positioning.