Method and device for generating high-precision map
A map and high-precision technology, applied in the field of navigation, can solve problems such as the inability to guarantee the accuracy of three-dimensional information and the inability to meet the accuracy requirements of navigation technology for high-precision maps, and achieve the effect of improving accuracy and
Active Publication Date: 2020-06-19
BEIJING SANKUAI ONLINE TECH CO LTD
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[0004]
However, since each pixel in the image collected by the image sensor does not include depth information, when the above method structurally processes the elements to obtain the 3D information corresponding to the image, it cannot guarantee the accuracy of converting each pixel in the image into 3D information.
Therefore, the high-precision map generated according to the existing technology cannot meet the accuracy requirements of navigation technology for high-precision maps
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[0051] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.
[0052] The technical solutions provided by each embodiment of this specification will be described in detail below in conjunction with the accompanying drawings.
[0053] figure 1 The flow chart of a method for generating a high-precision map provided by the embodiment of this specification may specifically include the following steps:
[0054] S100: Acquire a two-dimensional image collec...
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The invention discloses a method and device for generating a high-precision map. According to the method, a two-dimensional image and point cloud can be obtained, the element category corresponding toeach pixel point in the two-dimensional image is determined according to preset element classification, and the corresponding pixel point of each point in the point cloud in the two-dimensional imageis determined according to the relative positions of an image sensor and a laser radar on acquisition equipment. Due to the fact that the points in the point cloud have the corresponding pixel pointson the two-dimensional image, the element categories corresponding to the pixel points can be determined as the element categories corresponding to the points in the point cloud, and the high-precision map is generated according to the spatial position information of the points in the point cloud corresponding to the element categories. According to the method, the points in the point cloud havethe spatial position information and the element category information at the same time, and compared with the prior art, the method greatly improves the precision of generating the high-precision map.
Description
technical field [0001] This specification relates to the field of navigation technology, and in particular to a method and device for generating a high-precision map. Background technique [0002] With the development of navigation technology, the planning of navigation paths is increasingly dependent on high-precision maps. The higher the accuracy of the HD map, the finer the navigation path planning. [0003] The acquisition of high-precision maps can collect images through image sensors, and extract elements that can draw high-precision maps from the collected images. The elements that can draw high-precision maps include lane lines, traffic lights, etc. According to the pose information of the image sensor, the elements in the image are structured to obtain the three-dimensional information corresponding to the image, and a high-precision map is generated based on the three-dimensional information. [0004] However, since each pixel in the image captured by the image s...
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IPC IPC(8): G06T11/20G06T3/00G06T7/33G06K9/62
CPCG06T11/206G06T7/33G06T2207/10028G06T2207/10044G06F18/2411G06T3/06Y02A90/10
Inventor 徐昭良程保山杨立荣申浩
Owner BEIJING SANKUAI ONLINE TECH CO LTD