image-based adjacent inter-frame attitude information calculation method and a related device

Abstract

The invention discloses an image-based method for calculating attitude information between adjacent frames. The method is different from the prior art in which a feature point method or a direct method is singly used for calculating attitude information. According to the invention, the two modes are used in turn in a cyclic weighting mode; The attitude information obtained through calculation in one mode is weighted and then used as new input data to be calculated again in another mode to highlight or amplify unobvious errors existing in the attitude information obtained through previous calculation, and therefore after multiple times of cyclic weighting, error suppression is more thorough, and the attitude information higher in precision and more accurate is obtained. The invention also discloses an image-based calculation system and device of the adjacent inter-frame attitude information and a computer readable storage medium, which have the above beneficial effects. 本申请公开了一种基于影像的相邻帧间姿态信息的计算方法，区别于单纯使用特征点法或直接法计算姿态信息的现有技术，本申请以循环加权的方式轮流使用这两种方式，将使用一种方式计算得到姿态信息加权后作为新的输入数据使用另一种方式再次计算，以突出或放大上一次计算得到的姿态信息中存在的不明显的误差，从而在经过多次循环加权后，误差抑制更加彻底，得到精度更高、更准确的姿态信息。本申请还同时公开了一种基于影像的相邻帧间姿态信息的计算系统、装置及计算机可读存储介质，具有上述有益效果。