Method and system for performing accurate positioning by adopting hybrid sampling filter by intelligent vehicle
A hybrid sampling and precise positioning technology, applied in radio wave measurement systems, measurement devices, instruments, etc., can solve the problems of LiDAR positioning failure, large cumulative error, unknown vehicle heading, etc., to reduce costs, wide range of applications and scenarios, The effect of high-precision real-time positioning
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[0047] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
[0048] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.
[0049] This example uses velodyne HDL-64E lidar to collect point cloud data. The algorithm runs on a 4-core industrial computer with a main frequency of 2.40GHz, a memory of 8GB, and the system uses ubuntu 16.04.
[0050] This example uses a two-component Gaussian model to model the reflectance and height distributions for each grid separately. For height information, two Gaussian components are used to describe the height distribution of the ground and obstacles respectively; for reflectance information, two com...
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