Image-based pose determination method and apparatus, storage medium, and electronic device

Abstract

Embodiments of the present disclosure disclose an image-based pose determination method and apparatus, a computer readable storage medium, and an electronic device. The method include: acquiring a current image frame captured by a camera disposed on a moving object and a historical image frame captured before the current image frame; determining a first relative camera pose between the current image frame and the historical image frame; determining a virtual binocular image based on the first relative camera pose; and determining current pose information of the camera based on preset visual odometry and the virtual binocular image. According to the embodiments of the present disclosure, the virtual binocular image may be generated based on a monocular image, thus achieving effects of binocular visual odometry without using a binocular camera, thereby reducing costs. Moreover, monocular odometry may be enabled to obtain real physical scale of a space where the moving object is located, thereby improving accuracy of the monocular odometry in determining a position and a pose of the camera.