公开(公告)号：US20210223046A1

公开(公告)日：2021-07-22

申请号：US16631920

申请日：2019-07-31

Applicant: GOERTEK INC.

Inventor： Baoming LI ,  Shanshan MIN ,  Shunran DI ,  Libing ZOU ,  Jinxi CAO

IPC: G01C21/00 ,  G01C21/20 ,  G01S17/86

Abstract: A method and device for extracting key frames in simultaneous localization and mapping and a smart device. The method includes acquiring an image frame from an image library storing a plurality of image frames of an unknown environment, and performing feature extraction on the image frame to obtain information of feature points, wherein the information includes a quantity of feature points; acquiring relative motion information of the image frame relative to the previous key frame, and calculating an adaptive threshold currently used by using the relative motion information; and selecting a key frame according to the information of feature points and the adaptive threshold indicating space information of image frames.