Abstract: The application provides a pose adjustment method, a pose adjustment device, an electronic equipment, and a readable storage medium. The method includes: obtaining coordinates and noise parameters of the mobile device at a previous moment, the coordinates and the noise parameters at the previous moment being predicted by a Kalman filter model, the previous moment is a previous moment adjacent to a current moment; obtaining several measurement coordinates of the mobile device at the current moment through several measurement modules; predicting coordinates of the mobile device at the current moment through the Kalman filter model based on the several measured coordinates, the coordinates of the previous moment, and the noise parameters of the previous moment; and adjusting the pose of the mobile device at the current moment based on the coordinates of the current moment and a preset trajectory of the mobile device. The pose adjustment method may improve positioning accuracy.

Abstract: Disclosed are an indoor navigating system and an indoor navigating method based on vision. The indoor navigating method comprises capturing a material channel image; segmenting the material channel image to obtain a material pushing machine and a walkable area from the material channel image, and determining boundaries of the material pushing machine and boundaries of the walkable area; obtaining a distance between a left boundary of the material pushing machine and a left rail of a material channel and/or a distance between a right boundary of the material pushing machine and a right rail of the material channel; obtaining a lateral deviation distance of the material pushing machine, and determining a course angle; and adjust an actual moving direction of the material pushing machine according to the course angle.