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Position calibration method, device, apparatus and storage medium for dynamic obstacle

A technology of dynamic obstacles and calibration methods, applied in 3D image processing, image data processing, instruments, etc., can solve the problems of large errors in obstacle positioning information, errors, etc., and achieve the effect of improving data accuracy and reducing errors

Active Publication Date: 2019-01-04
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, compared with the position and orientation information of the real obstacle, the position and orientation information of the obstacle obtained by the method of the prior art may have deviations of several meters or even tens of meters in the horizontal, vertical and vertical directions. At the same time, there are different degrees of errors in the three angles of pitch angle, roll angle, and yaw angle.
Therefore, the obstacle positioning information obtained by the existing technology has a large error

Method used

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  • Position calibration method, device, apparatus and storage medium for dynamic obstacle
  • Position calibration method, device, apparatus and storage medium for dynamic obstacle
  • Position calibration method, device, apparatus and storage medium for dynamic obstacle

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Embodiment 1

[0030] figure 1 It is a flow chart of a method for calibrating the position of a dynamic obstacle provided by Embodiment 1 of the present invention. This embodiment is applicable to the situation of calibrating the position of a dynamic obstacle, and the method can be executed by a device for calibrating the position of a dynamic obstacle. The device can be implemented in the form of software and / or hardware, and the device can be configured in computer equipment. like figure 1 As shown, the method specifically includes the following steps:

[0031] Step 101. Obtain a 3D scene map, and select at least one frame of point cloud data associated with the 3D scene map as the target single frame data, wherein only static obstacles are included in the 3D scene map, and static obstacles are also included in the target single frame data and dynamic obstacles.

[0032] Wherein, the three-dimensional scene map is a three-dimensional map generated according to each frame of point cloud...

Embodiment 2

[0047] figure 2 It is a flow chart of a method for calibrating the position of a dynamic obstacle provided by Embodiment 2 of the present invention. This embodiment is embodied on the basis of the foregoing embodiments. In this embodiment, registering the target single-frame data with the 3D scene map may include: obtaining static obstacles in the target single-frame data as reference obstacles, and combining the reference obstacles with the static obstacles included in the 3D scene map Objects are paired, and the target single frame data is initially registered in the 3D scene map according to the pairing result; the static obstacles included in the target single frame data after the initial registration are divided into squares of a set size, Form the feature points of the set granularity; according to the obtained feature points, perform the first precise registration of the target single frame data in the 3D scene map.

[0048] like figure 2 As shown, the method specif...

Embodiment 3

[0064] image 3 It is a flow chart of a method for calibrating the position of a dynamic obstacle provided by Embodiment 3 of the present invention. This embodiment is embodied on the basis of the foregoing embodiments. In this embodiment, the static obstacles in the target single-frame data are obtained as reference obstacles, the reference obstacles are paired with the static obstacles included in the 3D scene map, and the target single-frame data is placed in the 3D scene according to the pairing results. The initial registration in the map may include: determining at least one search area in the coordinate system according to the attitude information of the reference obstacle in the coordinate system in the target single frame data; according to the search area, in the three-dimensional scene map, the search and At least one static obstacle matched with the reference obstacle is used as a calibration obstacle; according to the attitude information of the at least one calib...

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Abstract

The invention discloses a position calibration method, a device, an apparatus and a storage medium of a dynamic obstacle. The method comprises the following steps: acquiring a three-dimensional scenemap, and selecting at least one frame of point cloud data associated with the three-dimensional scene map as target single frame data, wherein, only static obstacles are included in the three-dimensional scene map, and static obstacles and dynamic obstacles are included in the target single frame data; determining the attitude information of a dynamic obstacle included in the target single frame data in a coordinate system of a three-dimensional scene map; registering the target single frame data with the 3D scene map, and determining the posture shift information of the target single frame data in the coordinate system according to the registration result; according to the attitude offset information, the dynamic obstacle being added to the 3D scene map after the attitude calibration of the dynamic obstacle. The embodiment of the invention can correct the position and orientation information of the obstacle when the point cloud data simulation is carried out, reduce the error and improve the accuracy of the data.

Description

technical field [0001] Embodiments of the present invention relate to point cloud data processing technology, and in particular to a method, device, equipment and storage medium for calibrating the position of a dynamic obstacle. Background technique [0002] Point cloud data simulation is a technology based on the point cloud data and computer-aided design model of the target scene to generate high-realistic virtual point cloud data, which can be used to construct large-scale scenes. For example, a variety of road scenarios are constructed for training the 3D perception module of unmanned driving. Generally, point cloud data simulation includes three main modules: generating a 3D scene map; simulating the state of obstacles; simulating the working principle of sensors. Among them, the obstacle status usually refers to the position and orientation of the obstacle at a certain moment. [0003] In the prior art, the method of obtaining the position and orientation of obstacl...

Claims

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Application Information

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IPC IPC(8): G06T7/33G06T7/70G06T15/02
CPCG06T7/33G06T7/70G06T15/02G06T7/337G06T7/74G06T2207/10028G06T2207/30261G06T2207/20016G06T7/207G06T7/579G06T7/11G06T7/246G06V20/58
Inventor 燕飞龙方进赵彤彤王亮马彧杨睿刚
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD