{
  "$type": "site.standard.document",
  "description": "A visual localization method and apparatus are provided. The method includes: obtaining a captured first image, determining a first pose based on the first image and an aerial model, determining whether a ground model corresponding to the first pose exists in an aerial-ground model, andwhen the…",
  "path": "/patents/1406828",
  "publishedAt": "2026-01-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G01C11/00",
    "HUAWEI TECH CO LTD [CN]"
  ],
  "textContent": "A visual localization method and apparatus are provided. The method includes: obtaining a captured first image, determining a first pose based on the first image and an aerial model, determining whether a ground model corresponding to the first pose exists in an aerial-ground model, andwhen the ground model corresponding to the first pose exists, determining a second pose based on the ground model. The aerial-ground model includes the aerial model and the ground model mapped to the aerial model, a coordinate system of the ground model is the same as a coordinate system of the aerial model, and localization accuracy of the second pose is higher than localization accuracy of the first pose. Performing ground model-based fine visual localization can improve accuracy and a success rate of localization.",
  "title": "VISUAL POSITIONING METHOD AND DEVICE"
}