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Position determination method and device based on data association

A data association and identity technology, applied in the direction of instruments, character and pattern recognition, road network navigators, etc., can solve the problems of data simplification and inaccurate semantic feature positions, and achieve the effect of improving accuracy

Pending Publication Date: 2021-03-05
BEIJING CHUSUDU TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Because the data of the vehicle during a driving process is too simple, the semantic feature position determined based on such data will not be accurate enough

Method used

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  • Position determination method and device based on data association
  • Position determination method and device based on data association
  • Position determination method and device based on data association

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0101] Embodiment 1: When the proximity between the first positions of matching semantic features in each group of road images satisfies a preset distance condition, the matching semantic features in each group of road images are determined as associated semantic features belonging to the same road sign. Under high-precision trajectory, that is, when the positioning pose corresponding to each road image is determined according to GPS data, this embodiment can be adopted.

Embodiment approach 2

[0102] Embodiment 2: Acquire the first attribute information of matching semantic features in each group of road images, and determine the matching semantic features in each group of road images as belonging to Associated semantic features of the same road sign.

[0103] For example, when the matching semantic feature is the semantic feature of a traffic sign, its first attribute information may include the text information of the traffic sign and the like. When the matching semantic feature is the semantic feature of the lane line, its first attribute information may include virtual and real attributes of the lane line, the distance between the lane line and the edge of the road, and the like.

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Abstract

The embodiment of the invention discloses a position determination method and device based on data association. The method comprises the following steps: acquiring multiple groups of road images acquired by camera equipment when a vehicle travels in the same position area for multiple times; performing feature detection on the road sign in each road image to obtain semantic features in each road image; matching the semantic features between the road images in each group of road images to obtain matched semantic features belonging to the same road sign in the group of road images; performing three-dimensional reconstruction and coordinate system conversion on the matched semantic feature to obtain a first position of the matched semantic feature in a map; according to the matched semantic features in each group of road images, determining associated semantic features belonging to the same road sign among each group of road images; and fusing the first positions of the associated semantic features in each group of road images to obtain a second position of the associated semantic features in the map. By applying the scheme provided by the embodiment of the invention, the accuracy ofthe determined semantic feature position in the road image can be improved.

Description

technical field [0001] The present invention relates to the technical field of intelligent driving, in particular to a method and device for determining a location based on data association. 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 high-precision map construction scheme, it is usually possible to detect the road images collected by the vehicle during driving to obtain the semantic features in the road image, and build a high-precision map based on the position of the semantic f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/00G06K9/62G01C21/32
CPCG01C21/32G06V20/588G06V20/582G06V20/584G06F18/22G06F18/253
Inventor 王能文唐志雄刘瑀璋齐航单乐穆北鹏
Owner BEIJING CHUSUDU TECH CO LTD
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