Vision-based mapping method and device and vehicle-mounted terminal

Abstract

The embodiment of the invention discloses a vision-based mapping method and device and a vehicle-mounted terminal. The method comprises the following steps: acquiring a road image acquired by camera equipment; extracting an edge feature map of the road image according to preset edge intensity; determining a positioning pose corresponding to the road image according to the data acquired by the motion detection equipment; determining position information of each point in the edge feature map in a world coordinate system based on a three-dimensional reconstruction algorithm and the positioning pose; and selecting map points from all points of the edge feature map according to preset point density, and adding position information of all the map points in the world coordinate system to a map, wherein the positioning pose is a pose in a world coordinate system where the map is located. By applying the scheme provided by the embodiment of the invention, the effective information amount for visual positioning in the map can be increased.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to a vision-based mapping method, device and vehicle-mounted terminal. Background technique [0002] In the field of intelligent driving technology, vehicle positioning is an important part of intelligent driving. Usually, when the vehicle is driving, the vehicle pose can be determined according to the satellite positioning system. However, when the vehicle travels to a scene with weak or no satellite signal, in order to accurately determine the positioning pose of the vehicle, it can be positioned based on visual positioning. [0003] Vision-based localization builds on pre-built high-resolution maps. In the mapping schemes of high-precision maps, most of the mapping schemes are based on the modeling of common landmarks on the road. Markers generally include lane lines on the ground, ground marking lines, traffic signs and lampposts, etc. When building a map...

AI Technical Summary

Problems solved by technology

[0004] However, the above-mentioned mapping scheme relies heavily on the landmarks on the road. When there are few or no landmarks in the scene, it is difficult for the high-precision map to provide enough effective information for visual positioning. The high-precision map is used for visual positioning. Insufficient effective information for positioning

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