| abstract |
The visual-based positioning method of underground parking lot includes: S1, collect parking lot environmental information; S2, perform feature extraction and tracking on parking lot environmental information; S3, perform feature matching on the extracted and tracked information; S4, select the key frame; S5, calculate the pose of the vehicle in the parking lot; S6, calculate the global pose of the vehicle in the world coordinate system. Abundant underground parking lot information can be obtained through the camera without interference from external signals and other factors; in addition, the monocular camera has many advantages such as simple structure, flexible movement, easy calibration, low cost, and easy procurement and installation. |