High-precision map generate method, device and storage medium

Abstract

The invention provides a high-precision map generation method, a device and a storage medium. The method comprises the following steps: the target point cloud data is processed by point cloud splicingto obtain the lidar posture corresponding to the target point cloud data; Lidar-based pose, A target point cloud data is project into a preset two-dimensional region, generating a map based on a reflection value and a height value, wherein the global region comprises a plurality of preset two-dimensional regions, the map based on the reflection value and the height value stores the number of laser points projected therein in units of the preset two-dimensional regions, the reflection value information and the height value information, and the target point cloud data comprises data corresponding to a plurality of laser points; Using the target point cloud data, the map based on the reflection value and height value is verified by self-localization. If the result of the self-positioning verification satisfies the preset conditions, the map based on the reflection value and height value is integrated into the reference map to generate a high-precision map, and the reference map is a mapcreated by Zai. The invention can obtain a high-precision map with a wider application range.

Description

technical field [0001] The embodiments of the present invention relate to computer technology, and in particular to a method, device and storage medium for generating a high-precision map. Background technique [0002] With the rapid development of computer technology, the application of maps is becoming more and more extensive. For example, high-precision maps play a pivotal role in the autonomous driving system of unmanned vehicles. Specifically, in the autonomous driving system of unmanned vehicles, whether it is perception, path planning, or positioning systems, they all rely on high-precision maps to varying degrees. [0003] Related technologies mainly rely on the high-precision global positioning results provided by the GNSS / SINS integrated navigation system to generate maps. But the inventor found that: this related technology is only suitable for generating maps in a specific small area, such as in places such as empty highways, it can indeed provide centimeter-le...

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Problems solved by technology

But the inventor found that: this related technology is only suitable for generating maps in a specific small area, such as in places such as empty highways, it can indeed provide centimeter-level

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