Vehicle positioning method, vehicle positioning device and vehicle in indoor scene
A vehicle positioning and indoor scene technology, applied in the direction of measuring devices, navigation, instruments, etc., can solve the problems that affect the accuracy of vehicle positioning, lack of global pose observation, and it is difficult to limit drift errors, etc., to achieve the goal of improving accuracy Effect
Active Publication Date: 2021-07-13
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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Problems solved by technology
[0002] In indoor scenes (for example, indoor parking lot scenes), due to the lack of global pose observations, the inertial navigation (inertial navigation system) + visual SLAM (Simultaneous Localization AndMapping, real-time positioning and map construction) currently widely used in vehicle positioning The pose estimation algorithm, when the loopback cannot be detected, it is difficult to limit the accumulated drift error, thus affecting the accuracy of vehicle positioning
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[0035] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.
[0036] A vehicle positioning method in an indoor scene, a vehicle positioning device in an indoor scene, a vehicle, an electronic device, and a non-transitory computer-readable storage medium according to embodiments of the present invention will be described below with reference to the accompanying drawings.
[0037] figure 1 It is a flowchart of a vehicle positioning method in an indoor scene according to an embodiment of the present invention. In the embodiment of the present invention, the indoor scene includes but not limit...
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The invention discloses a vehicle positioning method, a vehicle positioning device and a vehicle in an indoor scene. The vehicle positioning method includes the following steps: acquiring the current frame image of the road ahead captured by a camera, and collecting the inertia of the vehicle from an inertial measurement unit (IMU). Acquire the main vanishing point in the current frame image of the road ahead; judge whether the main vanishing point in the current frame image is abnormal according to the inertial navigation attitude information; if it is judged that there is no abnormality in the main vanishing point in the current frame image, then Calculating the global pose information of the camera according to the main vanishing point in the current frame image; correcting the SLAM algorithm according to the global pose information; and locating the vehicle according to the corrected SLAM algorithm. The vehicle positioning method of the embodiment of the present invention can assist the SLAM algorithm to correct its accumulated errors by using the main vanishing point and inertial navigation fusion in an indoor scene, thereby improving the accuracy of vehicle positioning.
Description
technical field [0001] The present invention relates to the technical field of vehicles, in particular to a vehicle positioning method in an indoor scene, a vehicle positioning device in an indoor scene, a vehicle, an electronic device, and a non-transitory computer-readable storage medium. Background technique [0002] In indoor scenes (for example, indoor parking lot scenes), due to the lack of global pose observations, the inertial navigation (inertial navigation system) + visual SLAM (Simultaneous Localization AndMapping, real-time positioning and map construction) currently widely used in vehicle positioning When the pose estimation algorithm cannot detect the loopback, it is difficult to limit the accumulated drift error, thus affecting the accuracy of vehicle positioning. Contents of the invention [0003] The present invention aims to solve one of the technical problems in the above-mentioned technologies at least to a certain extent. [0004] For this reason, the...
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IPC IPC(8): G01C21/20
CPCG01C21/206
Inventor 柴文楠刘中元蒋少峰周建潘力澜李良
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD