High-precision map data structure, high-precision map data acquiringand processing system and high-precision map data acquiringand processingmethod

Abstract

The invention provides a high-precision map data structure, ahigh-precision map data acquiringand processing system and a high-precision map data acquiringand processingmethod. The high-precision map data structure adopts a layering structure and comprises four layers of structures in total, wherein all layers of data are inter-related, i.e., the first layer is a road network; the second layer is a lane network and is related to roads of the first layer; the third layer is lane line information and simultaneously is related to roads of the second layer; and the fourth layer is special information data. The system comprises a panoramic image shooting and processing module, a GPS processing module, an inertial navigation module, a rotary encoder and a geographicinformation processing module. According to the invention, a panoramic camera is used for shooting panoramic images of the roads, simultaneously, GPS original data, inertial navigation device data, rotary encoder data are acquired, different perspectives of projection images of single panoramic image, corresponding GPS and vehicle course angle information are obtained by processing the data, and then geographicinformation data of roads is labeled according to the defined data structure, so that a high-precision map is obtained.

Description

technical field [0001] The present invention relates to the fields of geographic information data collection and map surveying and mapping, in particular to a high-definition map data structure, a system and method for collecting and processing high-definition map data based on panoramic images. Background technique [0002] The Global Positioning System (GPS) provides a relatively mature positioning technology for geographic information collection, and is also a provider of geographic information data necessary in the process of making high-precision maps. The accuracy of ordinary single-point GPS is far from meeting the requirements of establishing a lane-level map. Generally, a differential system (RTK-GPS) is used to improve the positioning accuracy of GPS. However, in practice, RTK-GPS has high requirements on the quality of GPS signals, and the coverage of base station stations is limited, and it is very easy to fail because of buildings and trees blocking the signal, ...

AI Technical Summary

Problems solved by technology

Using lidar to collect information has high accuracy and good globality, but the cost is high, the amount of data is large, and the generated image is a reflectance image, which is different from the real scene; using ordinary cameras to collect information is cheap and easy to use, but the field of view is small , easily blocked

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