公开(公告)号：US20220375220A1

公开(公告)日：2022-11-24

申请号：US17743892

申请日：2022-05-13

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Wensen FENG ,  Huan ZHANG ,  Jun CAO ,  Zhongwei TANG ,  Jiangwei LI

IPC: G06V20/00 ,  G06V20/10 ,  G06V10/74 ,  G06T7/73

Abstract: A visual localization method and apparatus are provided. The method includes obtaining a captured first image, determining a first pose based on the first image and an aerial model, determining whether a ground model corresponding to the first pose exists in an aerial-ground model, and when the ground model corresponding to the first pose exists, determining a second pose based on the ground model. The aerial-ground model includes the aerial model and the ground model mapped to the aerial model, a coordinate system of the ground model is the same as a coordinate system of the aerial model, and localization accuracy of the second pose is higher than localization accuracy of the first pose. Performing fine visual localization based on the ground model can improve accuracy and a success rate of localization.