Beijing Sankuai Online Technology Co., Ltd

Qiong Nie

Huaxia Xia

Hao Shen

Mi Tian

Yiming Li

Chunle Gao

Jizhou Ma

Tiansi Han

Feipeng Tian

Binyang Hu

First, environment image data acquired by an unmanned driving device is obtained, and for each piece of reference image data matching the environment image data, a predicted pose of the unmanned driving device when acquiring the environment image data is determined according to an actual pose corresponding to the reference image data; and then pose deviation representation information of the reference image data is determined according to the predicted pose and actual poses corresponding to other pieces of reference image data. Finally, target image data is selected from the reference image data, and a pose of the unmanned driving device when acquiring the environment image data is determined.

Pose determining

A visual positioning method and apparatus are provided. In some embodiments, the method includes: acquiring a video captured by an image sensor; determining visual positioning information respectively corresponding to a plurality of key image frames in the video; determining a capture pose transformation relationship between each of the plurality of key image frames according to inertial navigation information of the image sensor recorded when taking the video; performing, according to the visual positioning information corresponding to each of the plurality of key image frames, graph optimization processing on the visual positioning information corresponding to each of the plurality of key image frames by using the capture pose transformation relationship between each of the plurality of key image frames as an edge constraint; and determining, according to a result of the graph optimization processing, a visual positioning result of the image sensor when taking the video.

Visual positioning based on a plurality of image frames

An image acquisition method and apparatus are provided. By controlling a motion device, at least one of an image acquisition device or a photographed target object moves under the driving of the motion device, so that a sample image including the target object can be acquired in a preset designated acquisition pose after movement, thereby improving the accuracy of a relative pose between the image acquisition device and the target object during acquisition, reducing human intervention during acquisition, improving the automation degree, and providing the possibility for subsequent services that need to be performed according to sample images captured with relatively high shooting pose accuracy.

Method of image acquisition based on motion control signal according to acquisition pose

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Beijing, China

Qiong Nie