Parking lot entrance positioning method and device in parking positioning and vehicle-mounted terminal

A technology for parking lot entrance and parking lot, which is applied in the field of vehicle terminal and parking lot entrance positioning, can solve the problems of insufficient initial pose accuracy, poor positioning accuracy, and insufficient GPS signal positioning accuracy at the parking lot entrance.

Active Publication Date: 2020-12-18
BEIJING MOMENTA TECH CO LTD
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

However, the positioning accuracy of the GPS signal is not high enough, resulting in the determined initial pose accuracy at th

Method used

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  • Parking lot entrance positioning method and device in parking positioning and vehicle-mounted terminal
  • Parking lot entrance positioning method and device in parking positioning and vehicle-mounted terminal
  • Parking lot entrance positioning method and device in parking positioning and vehicle-mounted terminal

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Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0183] Embodiment 1 includes the following steps 1b-5b.

[0184] Step 1b: Match the semantic information of the parking lot image with the semantic information of each location point in the preset map, and obtain the target location corresponding to the semantic information that is successfully matched in the preset map.

[0185] Step 2b: Taking the first vehicle pose as the initial value of the estimated pose, according to the value of the estimated pose and the position of the semantic information of the parking lot image in the parking lot image, calculate the mapping of the semantic information of the parking lot image to the preset Sets the first mapped position in the map.

[0186] In this step, mapping the semantic information of the parking lot image to the first mapping position in the preset map can be understood as mapping the semantic information of the parking lot image to the coordinate system of the preset map, and the mapped position is the first A map locatio...

Embodiment approach 2

[0192] Embodiment 2 includes the following steps 1c-5c.

[0193] Step 1c: matching the semantic information of the parking lot image with the semantic information of each position point in the preset map to obtain the target position corresponding to the successfully matched semantic information in the preset map.

[0194] Step 2c: Taking the first vehicle pose as the initial value of the estimated pose, and according to the value of the estimated pose and the target position, calculate the second mapping position of the successfully matched semantic information in the preset map in the parking lot image.

[0195]Wherein, calculating the second mapping position of the semantic information successfully matched in the preset map in the parking lot image can be understood as mapping the semantic information successfully matched in the preset map to the coordinate system where the parking lot image is located, and the mapped The location is the second mapped location.

[0196] St...

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Abstract

The embodiment of the invention discloses a parking lot entrance positioning method and device in parking positioning and a vehicle-mounted terminal. The method comprises the steps of obtaining a parking lot image collected by a camera module and detecting semantic information of the parking lot image when it is detected that a vehicle drives into an entrance of a parking lot and it is judged thata position indicated by an initial vehicle pose of a positioning module is located in a preset initialization identification area; determining a first vehicle pose of the vehicle through a pose regression model based on the semantic information of the parking lot image and the initial vehicle pose, matching the semantic information of the parking lot image with semantic information of each position point in a preset map according to the first vehicle pose, and determining a second vehicle pose of the vehicle according to a matching result, wherein the pose regression model is obtained by training in advance according to a plurality of sample parking lot images collected in the initialized recognition area. By applying the scheme provided by the embodiment of the invention, the positioningprecision at the entrance of the parking lot can be improved.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to a parking lot entrance positioning method, device and vehicle-mounted terminal in parking positioning. Background technique [0002] Smart parking technology can intelligently control the vehicle to drive into the parking space of the parking lot. Among them, when the vehicle enters the parking lot, it is necessary to accurately locate the position of the vehicle in the parking lot, so as to better control the vehicle to find a suitable parking space in the parking lot and park it. In the related art, it is usually possible to locate the vehicle according to the GPS signal. However, GPS signals are often blocked in indoor parking lots or underground garages. [0003] In this case, precise positioning can be performed based on the matching of semantic information in the visual image with the semantic information in the map. However, this positioning method r...

Claims

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Application Information

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IPC IPC(8): G08G1/14G06K9/32
CPCG08G1/14G06V20/62G06V10/24
Inventor 姜秀宝施泽南谢国富
Owner BEIJING MOMENTA TECH CO LTD
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