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.

公开(公告)号：US20230222688A1

公开(公告)日：2023-07-13

申请号：US18124354

申请日：2023-03-21

Applicant: Huawei Technologies Co., Ltd.

Inventor： Huayou WANG ,  Changliang XUE ,  Yanhui YU ,  Yanxing ZHOU ,  Feng WEN

IPC: G06T7/73 ,  G06V10/98

CPC classification number: G06T7/73 ,  G06V10/98

Abstract: A mobile device positioning method and a mobile device positioning apparatus (900) are disclosed. Perception vector elements (301 and 302) are associated with projection vector elements (303 and 304) based on horizontal positions of the perception vector elements (301 and 302) extracted from an image and horizontal positions of the projection vector elements (303 and 304) obtained through projection of vector elements in a map. In this way, when the horizontal positions of the associated perception vector elements (301 and 302) and the horizontal positions of the associated projection vector elements (303 and 304) are separately arranged in a same order, horizontal position distribution of all the arranged perception vector elements (301 and 302) is consistent with that of corresponding projection vector elements (303 and 304) in the arranged projection vector elements (303 and 304), and pose estimation is performed on a mobile device based on an association result.

公开(公告)号：US20200219000A1

公开(公告)日：2020-07-09

申请号：US16825694

申请日：2020-03-20

Applicant: HUAWEI TECHNOLOGIES CO., LTD.

Inventor： Feng WEN ,  Changliang XUE ,  Yuxin FU

IPC: G06N7/00 ,  G06N20/00 ,  G05D1/00

Abstract: One example method includes obtaining a state vector set, where the state vector set includes at least one of a pose vector of an intelligent device or a landmark characteristic vector of an environment in which the intelligent device is located, determining a first linearized constraint equation, determining a first state vector, marginalizing the first state vector in the first linearized constraint equation to obtain a second linearized constraint equation, determining an objective function based on the second linearized constraint equation, and optimizing the at least one of the at least one pose vector or the at least one landmark characteristic vector based on the objective function to output a track of the intelligent device and a map of the environment in which the intelligent device is located.