Patent ID: 11964401
Assignee: ZHEJIANG UNIVERSITY
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 3:
4. The global optimal robot visual positioning method based on point-line features according to claim 1, wherein the two-dimensional point-line features comprise two-dimensional point features and two-dimensional line features; a method for detecting the two-dimensional point features comprises Oriented FAST and Rotated BRIEF (ORB), Scale-Invariant Feature Transform (SIFT), Local Binary Pattern (LBP) and Histogram of Oriented Gradient (HOG) feature point detection algorithms; and detecting the two-dimensional line features utilizes Line Band Descriptor (LBD), Edge Drawing line (Edline) and Hough line detections; the distance of the metric space is a Euclidean distance.