The invention discloses a berth positioning method and system based on multi-sensor fusion. The method comprises the following steps: carrying out feature matching on a real-scene image feature at a current moment and a real-scene image feature at a previous moment; if matching succeeds, calculating the pose of the image acquisition module at the current moment; if the matching fails, calculating the pose of the image acquisition module at the current moment according to the relative position relationship between the inertial measurement module and the image acquisition module and the inertial measurement information at the previous moment, and taking the pose as the pose of the inspection vehicle; associating and binding the real scene image features, the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures; and according to the features of the to-be-detected live-action image, obtaining postures of the to-be-detected postures of the postures of the to-be-detected postures of the postures of the to-be-detected postures of the postures of the to-be-detected postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of the postures of
本发明公开一种基于多传感器融合的泊位定位方法以及系统。方法包括:对当前时刻的实景图像特征与上一时刻的实景图像特征进行特征匹配;若匹配成功,计算当前时刻的图像采集模块位姿;若匹配失败,则根据惯性测量模块与图像采集模块的相对位置关系与上一时刻的惯性测量信息,计算当前时刻的图像采集模块位姿,作为巡检车位姿;将实景图像特征、巡检车位姿、泊位定位信息进行关联绑定,并以第一帧时刻的巡检车位姿为初始位姿,生成泊位地图;根据待测实景图像特征,获取待测巡检车位姿,并将待测巡检车位姿与泊位地图中所有巡检车位姿进行对比,获得距离最近的巡检车位姿,查询对应的泊位定位信息,作为待测实景图像对应的泊位定位信息。
Multi-sensor fusion-based berth positioning method and system
基于多传感器融合的泊位定位方法以及系统
2023-08-01
Patent
Electronic Resource
Chinese
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