Multi-vehicle cooperatively rapid mapping method

A fast, map technology, applied in the re-radiation of electromagnetic waves, satellite radio beacon positioning systems, and the use of re-radiation, etc., can solve the problem of reducing the efficiency of mapping, and achieve the effect of saving transmission volume, saving costs, and improving accuracy.

Active Publication Date: 2018-12-28
BEI JING NORMAL UNIV HONG KONG BAPTIST UNIV UNITED INT COLLEGE
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However, when it is extended to 3D, the e

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Embodiment Construction

[0043] The accompanying drawings are for illustrative purposes only, and should not be construed as limitations on this patent; in order to better illustrate this embodiment, certain components in the accompanying drawings will be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art It is understandable that some well-known structures and descriptions thereof may be omitted in the drawings. The positional relationship described in the drawings is for illustrative purposes only, and should not be construed as a limitation on this patent.

[0044] Such as Figure 1 to Figure 5 As shown, a multi-vehicle collaborative fast mapping method includes the following steps:

[0045] Step 1. Collect data at a frequency of 10Hz through a 16-line laser radar, and record it in the memory in the form of a laser radar point cloud; through a GPS device, sense real-time GPS data at a frequency of 50Hz and store it in the memory.

[004...

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Abstract

The invention relates to a multi-vehicle cooperatively rapid mapping method. The multi-vehicle cooperatively rapid mapping method comprises the steps that: S1, data acquisition and sensation are carried out; S2, point cloud data is pre-processed; S3, local point cloud maps and global point cloud maps of vehicles are constructed; S4, communication among the vehicles is carried out; and furthermore,the coordinate system transformation relation between the two vehicles is calculated; S5, one-to-one matching of the coordinate system transformation relations among the vehicles is carried out; anda matrix that a matching result satisfies threshold requirements is used as the coordinate system transformation matrix of the two vehicles; S6, after registration is successful, each vehicle sends aregistration result to the opposite side; and, after receiving the registration result, each vehicle begins to send established global edge maps and trajectories to the opposite side; and S7, after receiving the global edge maps continuously sent by the opposite side and the trajectory data of the opposite side, each vehicle converts data through the matrix obtained in the step (5) by calculation;and then, the result is transmitted to the step (2) and the step (3), so that real-time cooperative mapping is carried out. Multi-vehicle cooperative mapping is used; and thus, the method is high inefficiency, wide in detection vision field and high in precision.

Description

technical field [0001] The invention belongs to the technical field of automatic driving perception, and in particular relates to a multi-vehicle cooperative rapid map building method. Background technique [0002] At present, ROS (Robot Operating System) is an open source robot operating system. As a middleware, the system provides the services that the operating system should have: hardware abstraction, underlying device control, implementation of common functions, inter-process message passing, etc. [0003] The main goal of ROS is to provide support for code reuse in robotics research and development. ROS adopts a distributed process framework and uses nodes as the basic unit to realize communication. ROS supports a federated system similar to code repositories, which also enables project collaboration and release. This design allows the development and implementation of a project to be completely independent from the file system to the user interface (not restricted b...

Claims

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Application Information

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IPC IPC(8): G01S17/06G01S17/88G01S19/46
CPCG01S17/06G01S17/88G01S19/46
Inventor 轩辕哲李博洋张心翼
Owner BEI JING NORMAL UNIV HONG KONG BAPTIST UNIV UNITED INT COLLEGE
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