Unlock instant, AI-driven research and patent intelligence for your innovation.

Laser radar positioning method and related device thereof

A technology of laser radar and positioning method, which is applied in the field of positioning and can solve problems such as the impact of positioning performance

Pending Publication Date: 2020-10-13
ゼジャンハーレイテクノロジーカンパニーリミテッド
View PDF0 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, a major drawback of this type of method is that when the environment of the pre-built map changes, such as moving objects and changes in the local environment structure (some objects are stacked, etc.), its positioning performance will be greatly affected.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Laser radar positioning method and related device thereof
  • Laser radar positioning method and related device thereof
  • Laser radar positioning method and related device thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0049] In order to enable those skilled in the art to better understand the technical solutions of the present application, the laser radar positioning method and related devices provided in the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0050] For details, please refer to figure 1 , figure 1 It is a schematic flowchart of an embodiment of the lidar positioning method of the present application. The lidar positioning method in this embodiment includes the following steps.

[0051] S110: Estimate the predicted pose of the lidar.

[0052] First of all, in the process of lidar positioning, the predicted pose of the lidar can be predicted first, so as to filter out some laser points with poor matching degree based on the predicted pose.

[0053] The pose information of the lidar includes the position information and the yaw angle information of the lidar. The position information of the lidar may refer...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention provides a laser radar positioning method and a related device thereof. The laser radar positioning method comprises the following steps: estimating a predicted pose of a laser radar; determining a first coordinate of each laser point in the current frame laser point cloud data based on the predicted pose and the acquired current frame laser point cloud data; screening out laser points with poor matching degrees based on the first coordinates to obtain a first laser point set; matching the first laser point set with a grid map based on the predicted pose to obtain second coordinates of laser points in the first laser point set; screening out the laser points with poor matching degree based on the second coordinates to obtain a second laser point set; and matching the second laser point set with a map to determine a final pose of the laser radar. According to the method, interference points can be removed, so that the positioning accuracy of the laser radar is improved.

Description

technical field [0001] The present application relates to the field of positioning technology, in particular to a laser radar positioning method and related devices. Background technique [0002] At present, among the positioning methods based on lidar, the positioning method based on prior maps is the most widely used. The main advantage of this method is that the positioning process will not accumulate errors by using the environmental point cloud information collected in real time by the lidar to match the map to determine the lidar pose. However, a major disadvantage of this type of method is that when the environment of the pre-built map changes, such as moving objects and changes in the local environment structure (some objects are stacked, etc.), its positioning performance will be greatly affected. Contents of the invention [0003] The present application provides a laser radar positioning method and related devices, which can remove interference points to improv...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G01C21/00G01C21/20G01S17/89G01S7/497
CPCG01C21/00G01C21/20G01S17/89G01S7/497
Inventor 石鹏林辉卢维殷俊
Owner ゼジャンハーレイテクノロジーカンパニーリミテッド
Features
  • R&D
  • Intellectual Property
  • Life Sciences
  • Materials
  • Tech Scout
Why Patsnap Eureka
  • Unparalleled Data Quality
  • Higher Quality Content
  • 60% Fewer Hallucinations
Social media
Patsnap Eureka Blog
Learn More

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2025 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com