Indoor positioning method and apparatus, electronic device and storage medium

Abstract

The present application relates to a method for indoor positioning, and an apparatus, an electronic device and a storage medium, which relates to the fields of positioning technologies and deep learning technologies. A specific implementation solution is: extracting descriptors of structure lines in a specified image collected by a terminal indoors; based on the descriptors of the structure lines in the specified image and descriptors of structure lines of images included in a pre-established indoor image database, acquiring, from the indoor image database, target structure line descriptors closest to the descriptors of the structure lines in the specified image; and acquiring pose information of the terminal based on a pre-established indoor 3D structure line map and the target structure line descriptors corresponding to the descriptors of the structure lines in the specified image. The present application can position a terminal based on structure lines in a specified image collected by the terminal indoors, without being affected by texture information such as a billboard in the image, as well as illumination and appearance changes, which has higher robustness and can effectively improve the stability and accuracy of indoor positioning.