Resumen
In order to realize the management of various street objects in smart cities and smart transportation, it is very important to determine their geolocation. Current positioning methods of street-view images based on mobile mapping systems (MMSs) mainly rely on depth data or image feature matching. However, auxiliary data increase the cost of data acquisition, and image features are difficult to apply to MMS data with low overlap. A positioning method based on threshold-constrained line of bearing (LOB) overcomes the above problems, but threshold selection depends on specific data and scenes and is not universal. In this paper, we propose the idea of divide?conquer based on the positioning method of LOB. The area to be calculated is adaptively divided by the driving trajectory of the MMS, which constrains the effective range of LOB and reduces the unnecessary calculation cost. This method achieves reasonable screening of the positioning results within range without introducing other auxiliary data, which improves the computing efficiency and the geographic positioning accuracy. Yincun town, Changzhou City, China, was used as the experimental area, and pole-like objects were used as research objects to test the proposed method. The results show that the 6104 pole-like objects obtained through object detection realized by deep learning are mapped as LOBs, and high-precision geographic positioning of pole-like objects is realized through region division and self-adaptive constraints (recall rate, 93%; accuracy rate, 96%). Compared with the existing positioning methods based on LOB, the positioning accuracy of the proposed method is higher, and the threshold value is self-adaptive to various road scenes.