Top view-based parking lot vehicle self-positioning and map construction method

A map construction and top-view technology, applied in the fields of computer vision and autonomous parking, can solve problems such as difficulty in applying vehicle-mounted processors, positioning accuracy, stability and real-time performance, difficulty in obtaining satisfactory comprehensive effects, and consumption of computing power.

Active Publication Date: 2020-10-30
CHANGCHUN YIHANG INTELLIGENT TECH CO LTD
View PDF8 Cites 6 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, calculating the pixel distance of binocular images consumes computing power and is difficult to apply to low-power on-board processors
[0010] It can be seen that i

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
  • Top view-based parking lot vehicle self-positioning and map construction method
  • Top view-based parking lot vehicle self-positioning and map construction method
  • Top view-based parking lot vehicle self-positioning and map construction method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0228] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It can be understood that the specific implementation manners described here are only used to explain relevant content, rather than to limit the present invention. In addition, it should be noted that, for the convenience of description, only the parts related to the present invention are shown in the drawings.

[0229] It should be noted that, in the case of no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with embodiments.

[0230] The purpose of the present invention is to provide a method for self-positioning and map construction of parking lot vehicles based on top view. figure 1 An overall flow chart of the invention is described. Such as figure 1 As shown, the o...

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 discloses a top view-based parking lot vehicle self-positioning and map construction method. The method comprises the steps of: taking a look-around system which is composed of a low-cost fisheye camera as an information collection system, generating a top view based on the look-around system, extracting the angular line features of parking lines nearby a vehicle in a robust manner,and carrying out tracking and map construction; and generating an angular line map in real time by utilizing a map matching technology, and carrying out real-time high-precision positioning and map construction on the vehicle by utilizing local map optimization and global map optimization. According to the method, the problem of scale drift of a monocular SLAM is avoided in principle, and real-time and high-precision vehicle self-positioning and map construction work is completed on a low-power-consumption vehicle-mounted processor through a low-cost sensor by means of an existing vehicle-mounted system so as to assist in completing an autonomous parking task. The invention further provides a construction device, a construction system, an automatic driving vehicle and an autonomous parkingsystem.

Description

technical field [0001] The present invention relates to the field of autonomous parking technology and computer vision technology in the unmanned driving industry, in particular to a method and device for driving a vehicle to construct a parking lot map and vehicle self-positioning within the range of the parking lot. Background technique [0002] In recent years, autonomous driving technology has developed rapidly, and solving the problem of difficult parking is also one of the focuses of research and development in the field of autonomous driving. From the assisted parking system represented by the reversing radar and the bilateral obstacle automatic parking technology based on the ultrasonic radar to the present, the automatic parking technology is not limited to the operation of parking and warehousing, but has expanded to include autonomous parking. An integrated parking system for low-speed cruise, parking space search, parking and call response. Among them, technolog...

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): G08G1/14H04N7/18G06K9/00G06T7/80G06T3/40
CPCG08G1/14H04N7/181G06T7/80G06T3/4038G06T2207/10004G06T2207/30248G06V20/586
Inventor 李一龙陈禹行范圣印李雪
Owner CHANGCHUN YIHANG INTELLIGENT TECH CO LTD
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

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

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap