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Vehicle positioning method and device based on image sensing

A vehicle positioning and image technology, applied in the field of image processing, can solve the problems of large errors in the global positioning system and the inability to meet the needs of vehicle positioning accuracy, and achieve the effect of improving accuracy

Active Publication Date: 2019-08-20
BEIJING MOMENTA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in practice, it is found that the positioning error of the global positioning system is relatively large, which cannot meet the demand for vehicle positioning accuracy during automatic driving.

Method used

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  • Vehicle positioning method and device based on image sensing
  • Vehicle positioning method and device based on image sensing
  • Vehicle positioning method and device based on image sensing

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Experimental program
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Effect test

Embodiment 1

[0083] see figure 1 , figure 1 It is a schematic flowchart of an image perception-based vehicle positioning method disclosed in an embodiment of the present invention. Such as figure 1 As shown, the vehicle positioning method based on image perception may include the following steps:

[0084] 101. The electronic device acquires a road image of the road where the vehicle is located.

[0085] In the embodiment of the present invention, the electronic device may be an on-board computer or a driving computer built in the vehicle. The electronic device can control several terminal devices installed on the vehicle. For example, the electronic device can control the camera installed on the vehicle to obtain images, and can also control the large screen of the central control or the instrument panel to output information. Information such as the current driving speed, the current driving direction, and the current acceleration are not limited in this embodiment of the present inve...

Embodiment 2

[0107] see figure 2 , figure 2 It is a schematic flowchart of another image perception-based vehicle positioning method disclosed in the embodiment of the present invention. Such as figure 2 As shown, the vehicle positioning method based on image perception may include the following steps:

[0108] 201. The electronic device acquires a road image of the road where the vehicle is located.

[0109] 202. The electronic device performs semantic feature recognition on the road image through a deep learning algorithm, and obtains the semantic feature of the road image.

[0110] In the embodiment of the present invention, deep learning (Deep Learning) is a method based on data representation learning in machine learning. Electronic devices can use deep learning algorithms to identify several semantic features contained in road images. For example, electronic devices can identify Semantic features such as buildings, lane lines, and signal lights contained in road images.

[01...

Embodiment 3

[0132] see image 3 , image 3 It is a schematic flowchart of another image perception-based vehicle positioning method disclosed in the embodiment of the present invention. Such as image 3 As shown, the vehicle positioning method based on image perception may include the following steps:

[0133] 301. The electronic device acquires a road image of the road where the vehicle is located.

[0134] 302. The electronic device performs semantic feature recognition on the road image, obtains the semantic features of the road image, and determines a relative positional relationship between any two semantic features.

[0135] 303. The electronic device obtains at least one second primary location including all semantic features from the preset automatic driving navigation electronic map.

[0136] In the embodiment of the present invention, the second preliminary selection position contains objects corresponding to each semantic feature in the road image, and the number of each se...

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Abstract

The inventio relates to the field of image processing, and discloses a vehicle positioning method and device based on image sensing. The method comprises the following steps: acquiring semantic features of road images of a road where a vehicle is located, and determining relative position relationships among the semantic features; determining alternative positions, which are matched with the semantic features and the relative position relationships, in an autonomous driving navigation electronic map, and calculating a confidence degree of each alternative position; and determining the alternative position with the highest confidence degree as a target position, and repositioning the vehicle in the autonomous driving navigation electronic map according to the target position. The method anddevice disclosed by the embodiment of the invention has the advantages that the alternative positions can be determined in the autonomous driving navigation electronic map according to the semantic features in the road images acquired by a camera and the relative relationships among the semantic features, the confidence degree of each alternative position is calculated, and the vehicle is repositioned according to the alternative position with the highest confidence degree, so that the vehicle positioning accuracy can be improved through the deep learning algorithm and the image sensing technology.

Description

technical field [0001] The invention relates to the field of image processing, in particular to an image perception-based vehicle positioning method and device. Background technique [0002] In recent years, the development of autonomous vehicles (Autonomous vehicles) has reached a new level with the rise of artificial intelligence (AI). The realization of self-driving cars is inseparable from the car navigation system, which can use the Global Positioning System (Global Positioning System, GPS) to realize the positioning of the vehicle. However, in practice, it is found that the global positioning system has a large error in positioning, which cannot meet the demand for vehicle positioning accuracy during automatic driving. Contents of the invention [0003] The embodiment of the invention discloses a vehicle positioning method and device based on image perception, which can improve the accuracy of vehicle positioning. [0004] The first aspect of the embodiment of the ...

Claims

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Application Information

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IPC IPC(8): G01C21/30G01C11/04
CPCG01C11/04G01C21/30
Inventor 杜志颖单乐
Owner BEIJING MOMENTA TECH CO LTD
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