POSITIONING METHOD, POSITIONING APPARATUS, POSITIONING SYSTEM, STORAGE MEDIUM, AND METHOD FOR CONSTRUCTING OFFLINE MAP DATABASE

摘要

A positioning method, a positioning apparatus, a positioning system, a storage medium, and a method for constructing an offline map database. The positioning method comprises: acquiring current image information, and extracting a visual feature in the current image information; matching the visual feature in the current image information with a key frame in an offline map database to determine a candidate key frame having a visual feature similar to that in the current image information, wherein the offline map database is generated according to a global grid map and the visual map; and determining a pose corresponding to the candidate key frame, and converting the pose into a coordinate value. By means of the positioning method, precise positioning can be realized.