Map optimizing method, related electronic device and non-transitory computer readable storage medium

Abstract

A map optimizing method, applicable to an electronic device storing distance values and a map, includes: identifying, from the map, a first map point with a first estimated coordinate and a second map point with a second estimated coordinate generated based on a first marker and a second marker, respectively; generating, according to the first and second estimated coordinates, virtual cameras controlled by a virtual pose and with optical axes intersected at first and second intersection coordinates separated from each other by one of the distance values, in which the virtual cameras provide virtual frames indicating that the first and second markers are observed at the first and second intersection coordinates, respectively; and performing a global bundle adjustment to optimize the map, including adjusting the first and second estimated coordinates to reduce a sum of re-projection errors calculated according to real keyframes and the virtual frames.