公开(公告)号：US20210272313A1

公开(公告)日：2021-09-02

申请号：US17020171

申请日：2020-09-14

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Zhihao WANG ,  Chenxu ZHAO ,  Ziwen QIN

IPC: G06T7/73 ,  G06K9/62 ,  G06T7/246 ,  G06K9/72 ,  G06T7/11

Abstract: Embodiments of the present disclosure provides a method and apparatus for constructing a map. The method may include: determining pose information of each panoramic image frame from a panoramic image sequence of a target area, and determining a perspective image sequence from each panoramic image frame; determining a feature track corresponding to the panoramic image sequence based on perspective image sequences corresponding to adjacent panoramic image frames; and constructing a visual map of the target area based on the feature track and the pose information of each panoramic image frame.