POSE DETERMINATION METHOD AND DEVICE, INTELLIGENT APPARATUS, AND STORAGE MEDIUM

摘要

Embodiments of this application disclose a position and attitude determining method and apparatus, a smart device, and a storage medium, which belong to the field of computer technologies. The method includes: acquiring, by tracking feature points of a first marked image, position and attitude parameters of an image captured by a camera; using a previous image of a first image as a second marked image in response to the previous image of the first image satisfying a feature point tracking condition and the first image fails to satisfy the feature point tracking condition; acquiring, by tracking feature points of the second marked image, position and attitude parameters of an image captured by the camera relative to the second marked image; and acquiring position and attitude parameters of the image according to the position and attitude parameters of the image relative to the second marked image and position and attitude parameters of each marked image relative to a previous marked image, and determine a position and an attitude of the camera according to the position and attitude parameters. Switching of a marked image in response to the first image fails to satisfying the feature point tracking condition prevents a failure of tracking the feature point due to excessive changes in a position or an attitude of the camera, increasing robustness and improving tracking accuracy.