Positioning model optimization method, positioning method, and positioning device

Patent metadata

Field	Value
Publication number	US-12488549-B2
Application number	US-202118040463-A
Country	US
Kind code	B2
Filing date	Jul 22, 2021
Priority date	Aug 3, 2020
Publication date	Dec 2, 2025
Grant date	Dec 2, 2025

Abstract

A positioning model optimization method, a positioning method, and a positioning device are provided. The positioning model optimization method includes: inputting a positioning model for a scene, the positioning model including a three-dimensional (3D) point cloud and a plurality of descriptors corresponding to each 3D point in the 3D point cloud; calculating a significance of each 3D point in the 3D point cloud, and if the significance is greater than a predetermined threshold, outputting the 3D point and the plurality of descriptors corresponding to the 3D point to an optimized positioning model for the scene; and outputting the optimized positioning model for the scene.

First claim

What is claimed is:

1 . A positioning model optimization method, comprising:
inputting a positioning model for a scene, the positioning model comprising a three-dimensional (3D) point cloud and a plurality of descriptors corresponding to each 3D point in the 3D point cloud; calculating a significance of each 3D point in the 3D point cloud, and if the significance is greater than a predetermined threshold, outputting the 3D point and the plurality of descriptors corresponding to the 3D point to an optimized positioning model for the scene; and outputting the optimized positioning model for the scene, wherein said calculating the significance of each 3D point in the 3D point cloud comprises: determining a trajectory formed by two-dimensional (2D) feature points projected by the 3D point on different images of the scene; and calculating a length of the trajectory as the significance of the 3D point.

2 . The positioning model optimization method according to claim 1 , wherein each element in a matrix representing the trajectory is a vector formed by position coordinates and a descriptor of each 2D feature point corresponding to the 3D point.

3 . The positioning model optimization method according to claim 1 , wherein the length of the trajectory is a number of rows or columns of a matrix representing the trajectory.

4 . The positioning model optimization method according to claim 1 , wherein the positioning model for the scene is a 3D positioning model obtained by performing 3D reconstruction of the scene.

5 . An image-based positioning method, comprising:
inputting an image to be queried; positioning the image to be queried using an optimized positioning model for a scene to which the image to be queried belongs; and outputting a pose of a camera capturing the image to be queried, wherein the optimized positioning model for the scene is obtained by:
inputting a positioning model for the scene, the positioning model comprising a three-dimensional (3D) point cloud and a plurality of descriptors corresponding to each 3D point in the 3D point cloud;
calculating a significance of each 3D point in the 3D point cloud, and if the significance is greater than a predetermined threshold, outputting the 3D point and the plurality of descriptors corresponding to the 3D point to the optimized positioning model for the scene; and
outputting the optimized positioning model for the scene,
wherein said calculating the significance of each 3D point in the 3D point cloud comprises:
determining a trajectory formed by two-dimensional (2D) feature points projected by the 3D point on different images of the scene; and
calculating a length of the trajectory as the significance of the 3D point.

6 . The positioning method according to claim 5 , wherein each element in a matrix representing the trajectory is a vector formed by position coordinates and a descriptor of each 2D feature point corresponding to the 3D point.

7 . The positioning method according to claim 5 , wherein the length of the trajectory is a number of rows or columns of a matrix representing the trajectory.

8 . The positioning method according to claim 5 , wherein the positioning model for the scene is a 3D positioning model obtained by performing 3D reconstruction of the scene.

9 . An image-based positioning device, comprising:
one or more processors; and one or more memories having computer-readable codes stored therein, the computer-readable codes, when executed by the one or more processors, causing the one or more processors to: input a positioning model for a scene, the positioning model comprising a three-dimensional (3D) point cloud and a plurality of descriptors corresponding to each 3D point in the 3D point cloud; calculate a significance of each 3D point in the 3D point cloud, and if the significance is greater than a predetermined threshold, output the 3D point and the plurality of descriptors corresponding to the 3D point to an optimized positioning model for the scene; and output the optimized positioning model for the scene, wherein said calculating the significance of each 3D point in the 3D point cloud comprises: determining a trajectory formed by two-dimensional (2D) feature points projected by the 3D point on different images of the scene; and calculating a length of the trajectory as the significance of the 3D point.

10 . The image-based positioning device according to claim 9 , wherein each element in a matrix representing the trajectory is a vector formed by position coordinates and a descriptor of each 2D feature point corresponding to the 3D point.

11 . The image-based positioning device according to claim 9 , wherein the length of the trajectory is a number of rows or columns of a matrix representing the trajectory.

12 . The image-based positioning device according to claim 9 , wherein the positioning model for the scene is a 3D positioning model obtained by performing 3D reconstruction of the scene.

13 . An image-based positioning device, comprising:
one or more processors; and one or more memories having computer-readable codes stored therein, the computer-readable codes, when executed by the one or more processors, causing the one or more processors to perform the method according to claim 5 .

14 . The image-based positioning device according to claim 13 , wherein each element in a matrix representing the trajectory is a vector formed by position coordinates and a descriptor of each 2D feature point corresponding to the 3D point.

15 . A non-transitory computer-readable storage medium, having computer-readable instructions stored thereon, the computer-readable instructions, when executed by a processor, causing the processor to perform the method according to claim 1 .

16 . A non-transitory computer-readable storage medium, having computer-readable instructions stored thereon, the computer-readable instructions, when executed by a processor, causing the processor to perform the method according to claim 5 .

Assignees

• Bytedance Inc

Inventors

• Luo Linjie
• Liu Jing
• Chen Zhili
• Wang Guohui
• Yang Xiao
• Yang Jianchao
• Lian Xiaochen

Classifications

• G06T2219/2004

  Aligning objects, relative positioning of parts · CPC title

• G06T2207/30241

  Trajectory · CPC title

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G06T2207/30244

  Camera pose · CPC title

• G06T19/20 Primary

  Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts · CPC title