POSE INFORMATION DETERMINATION METHOD AND APPARATUS, AND VISUAL POINT CLOUD CONSTRUCTION METHOD AND APPARATUS

摘要

Disclosed are a pose information determination method and apparatus, and a visual point cloud construction method and a visual point cloud construction apparatus. The pose information determination method comprises: determining relative pose information of an image acquisition device when acquiring a current frame of image relative to the image acquisition device when acquiring a previous frame of image; determining, by means of a sensor having an absolute scale, a first group of translation parameters of movement of the image acquisition device during acquisition of the current frame of image and the previous frame of image; based on the relative pose information and the first group of translation parameters, adjusting the relative pose information; and based on the adjusted relative pose information, determining pose information of the image acquisition device when acquiring the current frame of image. By means of the pose information determination method, a scale of an external sensor is directly used to perform scale correction on a translation vector of pose information of a camera, so as to obtain more accurate pose information.