Method for determining vehicle pose, vehicle-mounted system and vehicle

An in-vehicle system and pose technology, which is applied to in-vehicle systems and vehicles to determine vehicle poses, can solve the problems of limited field of view of monocular cameras, affecting the positioning accuracy and continuity of monocular SLAM, and improve the accuracy of pose estimation. Effect

Active Publication Date: 2019-09-06
GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the field of view of a monocular camera is usually limited, and sometimes the accuracy and continuity of monocular SLAM positioning will be affected due to too few detected image features or parallax

Method used

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  • Method for determining vehicle pose, vehicle-mounted system and vehicle
  • Method for determining vehicle pose, vehicle-mounted system and vehicle
  • Method for determining vehicle pose, vehicle-mounted system and vehicle

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Embodiment Construction

[0056] Embodiments of the present invention provide a method for determining the pose of a vehicle, an on-board system, and a vehicle, which are used to obtain the converted pose according to the external parameters of multiple monocular cameras of the vehicle, perform fusion, and obtain the fused pose of the vehicle, thereby , to improve the accuracy of the pose estimation of the vehicle.

[0057] In order to enable those skilled in the art to better understand the solution of the present invention, the following will describe the technical solution in the embodiment of the present invention in conjunction with the accompanying drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the present invention Examples, but not all examples. All embodiments based on the present invention shall belong to the protection scope of the present invention.

[0058] A brief description of the technical terms involved in the embodiments of t...

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Abstract

An embodiment of the invention discloses a method for determining vehicle pose, a vehicle-mounted system and a vehicle, which obtain a fused pose of the vehicle according to pose output fusion of monocular systems, thereby improving the pose estimation precision of the vehicle. The method of the embodiment of the invention comprises the steps of: acquiring first inertial navigation information andfirst vehicle odometer information of the vehicle; determining a first current estimated pose of the vehicle according to the first inertial navigation information and the first vehicle odometer information; acquiring N monocular camera external parameters of the vehicle, wherein N is an integer greater than 1; integrating an inertial navigation mileage calculation method and a visual SLAM algorithm of each monocular camera according to the N monocular camera external parameters and the first current estimated pose, so as to estimate current poses of the N monocular cameras; performing coordinate transformation on the current poses of the N monocular cameras respectively to obtain N converted poses of the vehicle; and acquiring the fused pose of the vehicle according to the N converted poses.

Description

technical field [0001] The invention relates to the technical field of smart cars, in particular to a method for determining the pose of a vehicle, a vehicle-mounted system and a vehicle. 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 monocular camera) by an autonomous vehicle to create a map that is consistent with the real environment, and at the same time determine that it is in the location on the map. [0003] The fusion of monocular vision simultaneous localization and mapping (SLAM) and inertial navigation system can locate the vehicle. However, the field of view of a monocular camera is usually limited, and sometimes the accuracy and continuity of monocular SLAM positioning will be affected due to too few detected image features or parallax. Contents of the invention [0004] Embodiments of the present invention provide a method for determining t...

Claims

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Application Information

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IPC IPC(8): G01C21/28G01C21/16
CPCG01C21/165G01C21/28
Inventor 柴文楠刘中元蒋少峰李良周建潘力澜
Owner GUANGZHOU XIAOPENG CONNECTIVITY TECH CO LTD
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