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Positioning method

A positioning method and pose technology, applied in image data processing, instrument, character and pattern recognition, etc., can solve problems such as unfavorable large-scale promotion and expensive sensor construction.

Active Publication Date: 2020-06-12
SAIC MOTOR
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Although the accuracy of fusion positioning technology is high, the cost of multiple sensors is expensive, which is not conducive to large-scale promotion

Method used

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Embodiment Construction

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0044] see figure 1 , figure 1 An implementation flowchart of a SLAM-based positioning method provided by an embodiment of the present invention, the method includes:

[0045] Step S101 , in the manual driving mode, acquire frame images of the surrounding environment of the vehicle through the fisheye camera, and each frame of images includes four images.

[0046] The look-around fisheye cameras in this embodiment can be specifically distribute...

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Abstract

The invention discloses a positioning method, and the method comprises the steps: obtaining key frame images of the driving environment of a vehicle through an all-round fisheye camera in a manual driving mode, extracting the feature points of each key frame image, and constructing a feature point map; iNTELLIGENT DRIVING MODE, the method comprises the following steps: acquiring a frame image of acurrent scene in real time through a look-around fisheye camera, extracting feature points of the current frame image, matching the feature points of the current frame image with a feature point map,and performing pose estimation on the current frame and a successfully matched key frame by adopting a two-point method based on a vehicle body motion model, thereby determining position informationof a vehicle in real time. Compared with the prior art, the vehicle can be positioned without a plurality of sensors, the manufacturing cost is low, and popularization is easy.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a positioning method. Background technique [0002] With the development of society and economy and the advancement of science and technology, the number of cars in the world is increasing year by year. While personal travel is convenient, it also brings many problems, such as frequent traffic accidents. Studies have shown that most traffic accidents are caused by human factors. Intelligent driving technology can greatly reduce the accident rate. In recent years, intelligent driving technology has developed rapidly, and related technologies have been more and more widely used in automobiles. However, limited by the current level of intelligent driving technology, the existing intelligent driving technology cannot realize completely unmanned driving, and cannot be applied to all driving scenarios, and the intelligent driving mode can only be turned on in specific sce...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06T7/70
CPCG06T7/70G06V20/46G06V20/56Y02T10/40
Inventor 张方强欧阳紫洲顾帅姚杰梁伟铭
Owner SAIC MOTOR