Unlock instant, AI-driven research and patent intelligence for your innovation.

Positioning method and device, electronic equipment and storage medium

A positioning method and a technology for locating objects, which are applied in measuring devices, electromagnetic wave reradiation, radio wave measurement systems, etc., can solve the problems of low accuracy

Active Publication Date: 2021-03-23
HUAWEI TECH CO LTD
View PDF12 Cites 5 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, in indoor scenes, such as underground garages, the scenes at each location are very similar, and the point clouds at each location are very close, so the accuracy of positioning using ICP matching is low

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Positioning method and device, electronic equipment and storage medium
  • Positioning method and device, electronic equipment and storage medium
  • Positioning method and device, electronic equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0068] figure 1 It is a schematic diagram of a current indoor positioning process. Wherein, the vehicle may be provided with a camera and a laser radar. When the vehicle is moving indoors, the camera can collect images around the vehicle, and the lidar can emit laser light around the vehicle to collect point clouds around the vehicle. An indoor image feature map may be pre-stored in the vehicle, and the image feature map includes image features corresponding to each pose of the vehicle. When positioning, such as figure 1 As shown, the vehicle can match the image features in the collected images with the image features corresponding to each pose in the map to determine the initial pose. For example, the pose corresponding to the image feature in the map with the highest matching degree can be used as the initial pose. pose. The vehicle can also determine the pose of the vehicle by means of particle filtering based on the point cloud around the initial pose. figure 1 The sh...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The embodiment of the invention provides a positioning method and device, electronic equipment and a storage medium. The method comprises the steps: collecting a current point cloud which comprises the point cloud of a to-be-positioned object and the point cloud of an environment where the to-be-positioned object is located, and extracting the attribute features of the current point cloud; and obtaining the pose of the to-be-positioned object according to the attribute characteristics of the current point cloud and the attribute characteristics of the point cloud in the point cloud map of theenvironment where the to-be-positioned object is located. Because the attribute characteristics of the point cloud are the characteristics of the point cloud, even if the scenes are similar, the attributes or the attribute characteristics of the point cloud in the similar scenes are different, so that the positioning method performs positioning through matching of the attribute characteristics ofthe current point cloud around the to-be-positioned object and the attribute characteristics of the point cloud in the point cloud map. The accuracy of indoor positioning can be improved.

Description

technical field [0001] The present application relates to the technical field of intelligent driving, and in particular to a positioning method, device, electronic equipment and storage medium. Background technique [0002] Positioning technology is a key technology in intelligent driving. Current positioning technologies include satellite positioning technology, inertial navigation positioning technology, visual positioning technology and laser radar positioning technology. Visual positioning technology and lidar positioning technology are mostly used for indoor positioning. [0003] In the current indoor positioning, an indoor point cloud map can be constructed in advance, and the point cloud map can include point clouds of multiple key frames. When the vehicle is moving indoors, it can collect the point cloud around the vehicle in real time, and then match the collected point cloud with the point cloud of each key frame in the point cloud map according to the iterative c...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01S13/06G01S13/89G01S17/06G01S17/89
CPCG01C21/206G01S13/06G01S13/89G01S17/06G01S17/89G01S17/86G01S7/4817G01S7/4802G01S17/931G01S17/42G01C21/383G01S7/41G01S13/426G01S13/867G01S13/931
Inventor 赵小文
Owner HUAWEI TECH CO LTD