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Vehicle error state updating method and device

An error and vehicle technology, applied in the field of vehicle error status update, can solve problems such as unfavorable unmanned vehicle positioning

Pending Publication Date: 2021-02-09
BEIJING MOMENTA TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At this time, if the reprojection of the 3D features is still performed according to the exposure time of the center of the screen, additional deviation will be introduced in the reprojection residual, which is not conducive to the positioning of the unmanned vehicle in the high-precision semantic map

Method used

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  • Vehicle error state updating method and device
  • Vehicle error state updating method and device

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Experimental program
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Embodiment 1

[0144] see image 3 , image 3 It is a schematic flowchart of a method for updating a vehicle error state provided by an embodiment of the present invention. This method is applied to the application scenario where a rolling shutter camera is used as a sensing device for automatic driving, and can be executed by a device for updating vehicle error state quantities. In a vehicle-mounted terminal such as an industrial personal computer (Industrial personal Computer, IPC), the embodiments of the present invention are not limited. Such as image 3 As shown, the method provided in this embodiment specifically includes:

[0145] 110. When the perception image is received, determine a target map element that has a matching relationship with the target image element in the perception image from the preset navigation map.

[0146] Wherein, the perceptual image is obtained by using a preset perceptual model to recognize the image including road information collected by the camera. ...

Embodiment 2

[0177] see Figure 4 , Figure 4 It is a schematic flowchart of a method for updating a vehicle error state provided by an embodiment of the present invention. In this embodiment, on the basis of the above embodiments, the light pole is used as the target map element, and the process of calculating the reprojection residual and solving the coefficient matrix is ​​optimized. Such as Figure 4 As shown, the method includes:

[0178] 210. When the perception image is received, determine a target map element that has a matching relationship with the target image element in the perception image from the preset navigation map.

[0179] In this embodiment, the target map element and the corresponding target sensing element are preferably streetlight poles.

[0180] 220. Based on the first target conversion relationship between the first position of the target map element in the world coordinate system and its position in the camera coordinate system, convert the first position to...

Embodiment 3

[0204] see Figure 5 , Figure 5 It is a schematic flowchart of a method for updating a vehicle error state provided by an embodiment of the present invention. In this embodiment, on the basis of the above embodiments, traffic signs are used as target map elements, and the process of calculating the reprojection residual and solving the coefficient matrix is ​​optimized. Such as Figure 5 As shown, the method includes:

[0205] 310. When the perception image is received, determine a target map element that has a matching relationship with the target image element in the perception image from the preset navigation map.

[0206] In this embodiment, the target map element and the corresponding target perception element are preferably traffic signs.

[0207] 320. Based on the first target conversion relationship between the first position of the target map element in the world coordinate system and its position in the camera coordinate system, convert the first position to the...

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Abstract

The embodiment of the invention discloses a vehicle error state updating method and device. The method comprises the steps: determining a target map element which has a matching relation with a targetimage element in a sensing image from a preset navigation map when the sensing image is received; based on a first target conversion relationship between a first position of the target map element inthe world coordinate system and a position of the target map element in the camera coordinate system, converting the first position into a second position based on the camera coordinate system at anexposure moment of the feature point of the target image element; projecting the converted target map element corresponding to the second position to a plane where the perception image is located, andupdating an error state matrix of the vehicle by using a re-projection residual error between the projected target map element and the target image element. By the adoption of the technical scheme, when the roller shutter camera is used for carrying out image sensing to position the vehicle pose, the positioning precision of the automatic driving vehicle is improved.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a method and device for updating a vehicle error state. Background technique [0002] At present, most of the collection equipment for SLAM (Simultaneous Localization and Mapping, real-time positioning and map construction) and inertial navigation at home and abroad are based on positioning modules composed of cameras, IMUs (inertial measurement units) and GPS (Global Positioning System, Global Positioning System). [0003] If the camera is a rolling shutter (rolling shutter) camera, the exposure time of each row of pixels collected by the camera is different. When the rolling shutter camera is installed on a self-driving vehicle, as the vehicle moves, the different rows of the camera The pixels are actually exposed at different positions of the vehicle, which results in an overall skew in the captured image. figure 1 An image captured by a rolling shutter camera is pr...

Claims

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Application Information

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IPC IPC(8): G06F16/29G06F16/23G06K9/00
CPCG06F16/29G06F16/2358G06V20/588
Inventor 李江龙罗金辉穆北鹏
Owner BEIJING MOMENTA TECH CO LTD
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