公开(公告)号：US11270148B2

公开(公告)日：2022-03-08

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: Systems and methods of visual simultaneous localization and mapping (SLAM) based on point and line features are disclosed. The method includes: receiving a visual image frame input by a camera device; extracting feature points and feature lines from the visual image frame; predicting a first pose of the camera device 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 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：US12073630B2

公开(公告)日：2024-08-27

申请号：US17513859

申请日：2021-10-28

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Wanlong Li ,  Xueshi Li ,  Yajun Gao ,  Feng Wen

IPC: G06T7/246 ,  G06T7/277 ,  G06V10/25 ,  G06V20/56

CPC classification number: G06V20/56 ,  G06T7/246 ,  G06T7/277 ,  G06V10/25 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: This disclosure provides a moving object tracking method and apparatus. The method includes: obtaining a current frame captured by a camera; predicting a current state vector of the camera based on an inertial measurement unit IMU and the current frame, to obtain a predicted value of the current state vector of the camera; predicting a current state vector of a target object that is moving in the current frame, to obtain a predicted value of the current state vector of the target object; and updating a Kalman state vector based on a measurement result of an image feature in the current frame. According to technical solutions provided in this disclosure, a target object that is moving in a surrounding environment can be tracked and a pose of the target object can be estimated while a pose of a system can be estimated.