Target scene positioning method and device, computer equipment and storage medium

A target scene and marker technology, which is applied in computing, measuring devices, image data processing, etc., can solve problems such as unstable target scene positioning, and achieve the effect of fast target scene positioning

Active Publication Date: 2020-06-02
CHANGSHA INTELLIGENT DRIVING INST CORP LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in cities, GPS signals are more likely to be interfered by multipath effects, which can easily lead to unstable target scene positioning

Method used

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  • Target scene positioning method and device, computer equipment and storage medium
  • Target scene positioning method and device, computer equipment and storage medium
  • Target scene positioning method and device, computer equipment and storage medium

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Embodiment Construction

[0030] In order to make the purpose, technical solution and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.

[0031] The target scene positioning method provided by this application can be applied to such as figure 1 shown in the application environment. The application environment includes an intelligent driving device 100 configured with a laser radar 101 , a camera 102 , a radar sensor 103 and a vehicle controller 104 . Wherein, the laser radar 101 , the camera 102 , and the radar sensor 103 are respectively connected to the controller 104 . The laser radar 101 collects a three-dimensional map of the device environment, and the camera 102 collects images around the device in ...

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Abstract

The invention relates to a target scene positioning method, a target scene positioning device, computer equipment and a storage medium. The target scene positioning method has the technical effects ofacquiring single-frame real-time point cloud data of equipment in real time by a laser radar in the driving process, extracting marker point cloud in the single-frame real-time point cloud data by using external features of a marker in a target scene, constructing polygons by using gravity center points of the marker point cloud, searching congruent polygons with multiple flat edges in a high-precision map with the gravity center point constructed in advance, determining matching points, and implementing positioning according to the matching points. Due to the fact that the relative positionrelation of the objects in the target scene is not changed, the polygons obtained on the basis of real-time point cloud data collected in the driving process are searched for in the high-precision mapto be matched with the congruent plane polygons of the polygons, and by means of the corresponding relation, target scene positioning can be rapidly achieved without GPS assistance.

Description

technical field [0001] The present application relates to the technical field of self-driving cars, and in particular to a target scene positioning method, device, computer equipment and storage medium. Background technique [0002] Self-driving cars rely on artificial intelligence, visual computing, radar, monitoring devices and positioning systems to work together, allowing computers to automatically and safely operate motor vehicles without any active human operation. [0003] Autonomous driving needs to locate the target scene of the vehicle in real time and determine the position of the vehicle. For example, locate the current scene of the vehicle to give driving instructions correctly. One target scene localization is road intersection localization. At present, automatic driving mostly uses lane keeping technology to realize real-time monitoring of the vehicle's position during the driving process, but this technology cannot be used at intersections without lane line...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/06G01S17/89G01S7/48G01C21/30G06T7/73
CPCG01C21/30G01S7/4802G01S17/06G01S17/89G06T2207/10028G06T2207/10044G06T7/73
Inventor 汪献义高梁李大林
Owner CHANGSHA INTELLIGENT DRIVING INST CORP LTD
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