公开(公告)号：US20240062415A1

公开(公告)日：2024-02-22

申请号：US18494547

申请日：2023-10-25

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Changliang XUE ,  Heping LI ,  Feng WEN ,  Hongbo ZHANG

IPC: G06T7/73 ,  G06V10/44

CPC classification number: G06T7/73 ,  G06V10/443 ,  G06T2207/30244

Abstract: This application provides example terminal device localization methods and related devices. One example method includes obtaining, from a vector map, a first map point matching a first feature point in a current image frame shot by a terminal device. A second map point matching a second feature point in another image frame before the current image frame is obtained from the vector map. A pose in which the terminal device shoots the current image frame is adjusted based on a target function to obtain, as a localization result of the terminal device, a pose in which the terminal device shoots the current image frame and that is obtained after current adjustment. The target function includes a first matching error between the first feature point and the first map point and a second matching error between the second feature point and the second map point.