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A vehicle SLAM mapping method and system

A vehicle and map technology, applied in the field of SLAM mapping methods and systems for vehicles, can solve the problems of lack of environmental information in maps and low success rate of mapping

Active Publication Date: 2019-06-14
GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If the timing of successful initialization is late, the vehicle needs to drive a long distance to start mapping, which may lead to a low success rate of mapping, and may also easily lead to the lack of some environmental information in the constructed map

Method used

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  • A vehicle SLAM mapping method and system
  • A vehicle SLAM mapping method and system
  • A vehicle SLAM mapping method and system

Examples

Experimental program
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Embodiment 1

[0073] see figure 1 , figure 1 It is a schematic flowchart of a vehicle SLAM mapping method disclosed in an embodiment of the present invention. in, figure 1 The described vehicle SLAM mapping method is applicable to vehicle-mounted electronic equipment such as a vehicle-mounted computer and an electronic control unit (Electronic Control Unit, ECU), and is not limited in the embodiments of the present invention. Such as figure 1 As shown, the SLAM mapping method of the vehicle may include the following steps:

[0074] 101. The on-vehicle electronic device acquires two initial frames respectively captured by any two camera modules of the vehicle when the vehicle is stationary.

[0075] In the embodiment of the present invention, the viewing ranges of the two camera modules overlap at least partially. As an optional implementation manner, the above two camera modules may be any two camera modules in a multi-eye camera system. The multi-eye camera system can include three o...

Embodiment 2

[0093] see figure 2 , figure 2 It is a schematic flowchart of another vehicle SLAM mapping method disclosed in the embodiment of the present invention. Such as figure 2 As shown, the SLAM mapping method of the vehicle may include the following steps:

[0094] 201. The on-vehicle electronic device acquires two initial frames respectively captured by any two camera modules of the vehicle when the vehicle is stationary.

[0095] In the embodiment of the present invention, the above-mentioned two camera modules may be any two camera modules in a multi-eye camera system, and the focal lengths and field angles of the two camera modules may be the same or different. However, due to the large number of camera modules in the multi-camera system, in order to reduce the amount of image data processing and speed up the processing time, a camera module with a fixed focal length is generally selected. Further, in order to expand the observation distance that can be covered, different...

Embodiment 3

[0114] see image 3 , image 3 It is a schematic flowchart of another vehicle SLAM mapping method disclosed in the embodiment of the present invention. Such as image 3 As shown, the SLAM mapping method of the vehicle may include the following steps:

[0115] Steps 301 to 304 are the same as steps 101 to 104, wherein the specific implementation of step 304 can be as shown in steps 204 to 206, and the following content will not be repeated.

[0116] 305. During relocation, the vehicle-mounted electronic device acquires multiple frames of target images captured by the target camera module and the aforementioned global SLAM map.

[0117] In the embodiment of the present invention, the global SLAM map is a digital description of the real environment. After the global SLAM map is constructed, the vehicle electronic device can reuse the global SLAM map. Similar to the way humans use maps for positioning, on-board electronic devices can locate the position of the vehicle in the g...

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Abstract

The invention discloses a vehicle SLAM mapping method and system. The method comprises the steps that two initial frames shot by any two camera modules of a vehicle are acquired; wherein the focal lengths and the field angles of the two camera modules can be the same or different. According to the internal parameters and the external parameters of the two camera modules and the parallax of the mutually matched feature points in the two initial frames, determining the three-dimensional spatial positions of the mutually matched feature points to obtain map points corresponding to the mutually matched feature points, constructing an initial SLAM map to complete initialization; after the initialization is successful, obtaining an image shot by any one target camera module in the two camera modules; on the basis of an initial SLAM map, monocular vision SLAM mapping is carried out in combination with an image shot by the target camera module, so that initialization can be completed through the binocular camera, mapping is carried out through the monocular camera after initialization is successful, the operation load of the system is reduced, and the success rate of mapping is improved.

Description

technical field [0001] The present invention relates to the technical field of automatic driving, in particular to a vehicle SLAM mapping method and system. Background technique [0002] In the field of autonomous driving, Simultaneous Localization and Mapping (SLAM) refers to the use of a single visual sensor (such as a camera) by an autonomous vehicle to create a map that is consistent with the real environment, and at the same time determine itself in the map. s position. [0003] However, traditional monocular vision SLAM can only be initialized through a dynamic method, that is, it needs to use images captured during camera movement to be successfully initialized. Therefore, when drawing a map, it is necessary to drive the vehicle a certain distance first, and then start to build the map after completing the initialization of the monocular vision SLAM. If the initialization succeeds later, the vehicle needs to drive a longer distance to start mapping, which may lead t...

Claims

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Application Information

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IPC IPC(8): G06T17/05G06T7/70
CPCG06T7/579G06T7/73G06T2207/30244G06T2207/30252
Inventor 周建李良王磊刚刘中元肖志光
Owner GUANGZHOU XIAOPENG MOTORS TECH CO LTD
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