Map data acquisition method, device and system for congested road section and storage medium

Abstract

The invention provides a map data acquisition method, device and system for a congested road section and a storage medium, and the method comprises the steps: collecting an image and an image track ofthe congested road section in a first time period; collecting the point cloud and the point cloud track of the congested road section in a second time period; finding a point cloud track point matched with the image from a point cloud track as a target track point according to a preset rule; and obtaining a modified image and a modified image track according to the recording time of the target track point, the time of modifying the image and the time of the image track point corresponding to the image. Therefore, the image and the image track of the congested road section can be collected inthe first time period; the point cloud and the point cloud track of the congested road section are collected in the second time period, and the two parts of data are automatically matched and fused toobtain the map data meeting the precision requirement, so the map data quality problem caused by point cloud data shielding of the congested road section is solved, and the precision and efficiency of subsequent high-precision map making are improved.

Description

technical field [0001] The invention relates to the technical field of high-precision maps, in particular to a method, device, system and storage medium for collecting map data on congested road sections. Background technique [0002] High-precision maps are an indispensable and important supporting technology for autonomous driving, and map data collection relying on multi-sensor integrated mobile collection vehicles is the core channel for high-precision map data acquisition, and it is also one of the important links in its map production. With the increasing demand for high-precision maps, this requires map data collection to provide more accurate and fresher raw data. [0003] At present, map data collection is generally carried out by multi-sensor integrated mobile collection vehicles for field data collection. For example, if a mobile collection vehicle is equipped with various measurement devices such as laser scanners, panoramic cameras, integrated navigation (inert...

AI Technical Summary

Problems solved by technology

[0004] However, such a map data collection method is more susceptible to the influence of the external complex environment, which reduces the quality and efficiency of data collection, and affects subsequent high-precision map production.

For example: during the driving process of the mobile acquisition vehicle, it is affected by surrounding vehicles and pedestrians, resulting in the loss of image or point cloud data

In the process of making high-precision maps, it is necessary to manually draw the missing parts, and the manual workload is very large

In particular, there are some road sections that are congested for a long time during the day, and the data loss of these road sections is even more serious

When the incomplete area is large, even manual work cannot map the missing parts that meet the accuracy requirements

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