Road scene characterization system based on fusion of laser, camera, GPS and inertial navigation, and method thereof

An inertial navigation system and camera technology, which is used in surveying, mapping and navigation, radio wave measurement systems, satellite radio beacon positioning systems, etc. Achieve the effect of high-precision positioning

Pending Publication Date: 2018-12-28
JIANGSU UNIV
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AI Technical Summary

Problems solved by technology

Normally, GPS-based positioning is one of the most common methods to achieve vehicle positioning, but its accuracy is low (average error can reach 10m), which cannot meet the high-precision positioning requirements of smart vehicles
Installing an inerti

Method used

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  • Road scene characterization system based on fusion of laser, camera, GPS and inertial navigation, and method thereof
  • Road scene characterization system based on fusion of laser, camera, GPS and inertial navigation, and method thereof
  • Road scene characterization system based on fusion of laser, camera, GPS and inertial navigation, and method thereof

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Example Embodiment

[0065] Examples:

[0066] In this embodiment, the road scene characterization model is established through the realization method of the road scene characterization system based on the fusion of laser, camera, GPS and inertial navigation. First, it is a single-node characterization model. The image features are combined with the cloud collected by the laser rangefinder. The information is fused, and the position relationship between the camera and the laser is solved as:

[0067]

[0068] The unit of t is mm, and there is no unit for K and R.

[0069] By fusing image features, laser points and position information, the positional relationship between the image, laser points and high-precision position information is solved as

[0070]

[0071] The unit of △ is mm, There is no unit.

[0072] Secondly, establish a multi-node representation model, through (2.2.2), the solution is:

[0073]

[0074] Among them, K is the internal parameter obtained in (2.1.2), R'has no unit, and the unit of...

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Abstract

The invention discloses a road scene characterization system based on the fusion of laser, camera, GPS and inertial navigation, and a method thereof. The system comprises a laser range finder, a GPS receiver, a vehicle-mounted camera and an inertial navigation system, the laser range finder, the GPS receiver and the vehicle-mounted camera are respectively installed at the central position of the roof of a data collection vehicle, at any position on the roof and in front of the vehicle, and the inertial navigation system is installed at any position of the data collection vehicle. The road scene characterization system disclosed by the invention fuses images, laser point cloud and GPS data to give full play to the respective advantages, so that each road scene has image features, each imagefeature also has corresponding distance information (provided by the laser), and each road scene also has high-precision position information (provided by GPS and inertial navigation), so that refined characterization of a road is realized.

Description

technical field [0001] The invention belongs to the technology of smart cars, and in particular relates to a road scene representation system and method based on fusion of laser, camera, GPS and inertial navigation. Background technique [0002] Related technical issues in the field of smart cars have become a hot topic that universities, enterprises, institutions and scientific research institutions at home and abroad are focusing on. In this field, high-precision positioning of smart cars is one of the most critical issues. Usually, GPS-based positioning is one of the most common methods to achieve vehicle positioning, but its accuracy is low (the average error can reach 10m), which cannot meet the requirements of high-precision positioning of smart vehicles. Installing an inertial navigation system (referred to as inertial navigation) and setting up a differential GPS base station on the basis of GPS can improve the positioning accuracy to sub-meter or even centimeter le...

Claims

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Application Information

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IPC IPC(8): G01C21/20G01C21/16G01S19/49
CPCG01C21/165G01C21/20G01S19/49
Inventor 李祎承蔡英凤陈龙王海陈小波刘擎超汤传业何友国
Owner JIANGSU UNIV
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