Multi-camera joint mapping method and device and terminal equipment

• Main Authors: LI HUMIN, WANG HUAN
• Format: Patent
• Language: Chinese; English
• Published: 28.05.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention relates to a multi-camera combined mapping method and device and terminal equipment, and relates to the technical field of computer vision and map construction. The method comprises the following steps: acquiring an image data set shot by a camera group in a target scene; wherein the camera group comprises a plurality of cameras, and the camera group shoots according to a preset overlapping degree threshold value; feature extraction and feature matching are carried out on each image in the image data set, a plurality of matching point pairs composed of successfully matched pixel points are obtained, and information of each matching point pair is determined; and constructing map data information of the target scene according to the information of each matching point pair and the relative pose relationship among the plurality of cameras in the camera group. According to the method, the dependence on professional hardware and continuous frame data can be reduced, and the problem of inaccurate const