Slam map coordinate system and geodetic coordinate system conversion method, device and system and storage medium

Abstract

The invention discloses a slam map coordinate system and geodetic coordinate system conversion method, device and system and a storage medium. The method comprises the steps of collecting a map coordinate point set on a vehicle driving track and a geodetic coordinate point set received by gps in a slam process; performing singular point elimination processing and type normalization processing on the two point sets so as to enable the number of coordinate points in each of the two processed point sets to be at least three; calculating a transformation matrix between the map coordinate point setand the geodetic coordinate point set according to the processed map coordinate point set and geodetic coordinate point set; and determining geodetic coordinates corresponding to map coordinates in amap coordinate system by utilizing the calculated transformation matrix and type normalization inverse processing. According to the method provided by the invention, the conversion between the slam map coordinate system and the geodetic coordinate system can be accurately carried out.

Description

technical field [0001] The present invention relates to the technical field of artificial intelligence unmanned vehicles, in particular to a conversion method, device, system and storage medium between a slam map coordinate system and a geodetic coordinate system. Background technique [0002] With the development of artificial intelligence technology, it is an important basis for the automatic navigation of intelligent unmanned vehicles to perform mapping and positioning by integrating lidar, camera, and gps multi-sensors. Since the slam map coordinate system is a polar coordinate system, it is necessary to convert the slam map coordinate system to the earth coordinate system. At present, when calculating the map coordinate system and the earth coordinate system, the method used is to first determine a closer point on the map, then determine a farther point on the map, calculate the difference between the two points x, y, and then combine the local longitude and latitude T...

AI Technical Summary

Problems solved by technology

At present, when calculating the map coordinate system and the earth coordinate system, the method used is to first determine a closer point on the map, then determine a farther point on the map, calculate the difference between the two points x, y, and then combine the local longitude and latitude The corresponding accuracy, and then estimate the geodetic coordinates of the point to be converted, the obtained geodetic coordinates have a large error

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