Method and device for determining vehicle poses in three-dimensional map construction process
A three-dimensional map and vehicle technology, applied in image analysis, image data processing, structured data retrieval, etc., can solve problems such as large positioning errors and inability to locate vehicles, and achieve the effect of improving accuracy and speed.
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Embodiment 1
[0083] see figure 1 , figure 1 It is a schematic flow chart of a method for determining a vehicle pose in the process of building a three-dimensional map provided by an embodiment of the present invention. This method is typically applied to the construction of a three-dimensional map or the process of parking a vehicle, and can be executed by a device for determining the pose of a vehicle during the construction of a three-dimensional map. The device can be implemented by software and / or hardware, and generally can be It is integrated in a vehicle-mounted terminal such as a vehicle-mounted computer or a vehicle-mounted industrial personal computer (IPC), which is not limited in this embodiment of the present invention. Such as figure 1 As shown, the method provided in this embodiment specifically includes:
[0084] 110. Based on the initial pose of the vehicle, retrieve map elements that meet a set distance range from the vehicle from the constructed three-dimensional map....
Embodiment 2
[0099] see figure 2 , figure 2 It is a schematic flowchart of a method for determining a vehicle pose in the process of building a three-dimensional map provided by an embodiment of the present invention. This embodiment is optimized on the basis of the foregoing embodiments. Such as figure 2 As shown, the method includes:
[0100] 210. Project the images collected by the four cameras to the set plane of the vehicle body coordinate system to form a spliced image.
[0101] Wherein, the four cameras may be fisheye cameras, which are arranged in four directions of the vehicle respectively. The body coordinate system generally takes the projection of the midpoint of the rear axle of the vehicle on the ground as the origin, the direction along the body as the Y direction, and the direction perpendicular to the body direction to the right as the X direction. In this embodiment, the setting plane is an XY plane.
[0102] 220. Perform semantic information segmentation proce...
Embodiment 3
[0118] see image 3 , image 3 It is a structural schematic diagram of a vehicle pose determining device in the process of building a three-dimensional map provided by an embodiment of the present invention. Such as image 3 As shown, the device includes: map element search module 310, residual value determination modules 320 and 330, wherein,
[0119] The map element search module 310 is configured to retrieve map elements that meet a set distance range with the vehicle from the constructed three-dimensional map based on the initial pose of the vehicle, and the map elements all have semantic information;
[0120] The residual value determining module 320 is configured to determine the pixel residual value of the map element and the image element in the image to be matched on a projection plane based on the projection relationship between the three-dimensional map and the image to be matched; Wherein, the image to be matched is obtained by performing semantic information se...
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