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Grid map generation method and system, electronic equipment and storage medium

A raster map and generation system technology, applied in image enhancement, image analysis, image data processing, etc., can solve problems such as high price, large number of points, and long distance, and achieve the effect of reducing the cost of mapping and positioning

Pending Publication Date: 2021-03-30
ZONGMU TECH SHANGHAI CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current method of using lidar to generate raster maps benefits from the characteristics of high precision, less noise, long distance, and large number of points of lidar, but the current way of using lidar to build maps is relatively expensive

Method used

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  • Grid map generation method and system, electronic equipment and storage medium
  • Grid map generation method and system, electronic equipment and storage medium
  • Grid map generation method and system, electronic equipment and storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0064] Such as figure 1 As shown, this embodiment provides a method of generating a raster map, including:

[0065] Step S1: Get the point cloud data of the trajectory data and millimeter waverad;

[0066] Step S2: The grid map is initialized based on the trajectory data;

[0067] Step S3: Multhe to the world coordinate system with the point cloud data of the millimeters of the current frame and the corresponding track data;

[0068] Step S4: Obtain the position in the grid map based on the point in the world coordinate system that is obtained, and obtains the position of the radar in the grid map;

[0069] Step S5: Adjust the probability value of the radar hitting point and the unbeatable point, and update the grid map based on the adjusted probability value;

[0070] Step S6: Detects whether to complete the processing of the point cloud data of all frames, in response to the processing of the point cloud data of all frames of millimeter wave radar, and complete all other frames...

Embodiment 2

[0140] Such as Figure 9 As shown, the present embodiment provides a generating system 100 of a grid map, and the generating system 100 of the grid map includes: data acquisition module 110, initialization module 120, coordinate transformation module 130, hitting point position acquisition module 140, The probability update module 150, the detection module 160 and the map save module 170.

[0141] In this embodiment, the data acquisition module 110 uses point cloud data to acquire trajectory data and millimeters.

[0142]The trajectory data acquired in the data acquisition module 110 is based on, but not limited to, the visual SLAM data, the laser SLAM data, the body data, or millimeters data is generated.

[0143] For example, the trajectory data acquired in the data acquisition module 110 is based on the visual SLAM data generated.

[0144] Among them, the process of generating trajectory data based on visual SLAM data includes:

[0145] 1) When any vehicle is a map construction...

Embodiment 3

[0173] Such as Figure 13 As shown, the present embodiment also provides an electronic device 10, the electronic device 10 including a processor 101, a memory 102. The electronic device 10 is a vehicle terminal, for example, a vehicle, a vehicle box, the electronic device 10 or a mobile terminal in the vehicle, such as a smartphone, PAD, smart glasses, smart bracelet, etc. The method of generating the grid map can be applied to a variety of types of electronic devices 10100. The electronic device 10 can also, for example, include a memory, a memory controller, one or more processing units (CPUs), peripheral interfaces, RF circuits, audio circuitry, speakers, microphones, input / output (I / O) subsystems. , Display, other outputs, or control devices, as well as components such as external ports, including, but not limited to, personal computers such as desktop, laptops, smart TVs. In other embodiments, the electronic device 10 may also be a server, the server can be arranged on on...

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Abstract

The invention provides a grid map generation method and system, electronic equipment and a storage medium. The method comprises the steps of obtaining track data and point cloud data of a millimeter-wave radar; initializing a grid map based on the SLAM trajectory data; multiplying the point cloud data of the millimeter-wave radar of the current frame by the corresponding SLAM trajectory data to obtain current frame trajectory data, and converting the current frame trajectory data into a world coordinate system; obtaining the position of a radar hit point in the initialized grid map; marking radar hit points and adjusting the probability values of the radar hit points, and updating the grid map based on the adjusted probability values; in response to the fact that processing of the point cloud data of the millimeter-wave radars of all frames is not completed, completing processing of the point cloud data of the millimeter-wave radars of all other frames based on the processing process of the current frame; and storing the grid map based on the probability value of the radar hit point in each frame. According to the invention, the grid map is constructed through the millimeter-wave radar, so that the mapping and positioning costs are greatly reduced.

Description

Technical field [0001] The present invention belongs to the field of map technology, and in particular, in the field of raster map, specific methods, systems, electronic devices, and storage media are generated. Background technique [0002] The electronic map refers to a map that utilizes a digital form generated by the calculation technology that can be widely used in queries, positioning, and navigation. Electronically Figure one The normal navigation map and high-precision map, the ordinary navigation map is a user-oriented map that provides visual interface for user query and display; and the high-precision map is a machine-oriented map data, which can be used, for example, automatic Driving, robot navigation and positioning, etc. Ordinary navigation maps are typically obtained by satellite map, and its precision is usually low (for example, the error can reach a few meters or even tens of meters). High-precision map is a highly accurate map data, which is not only high pre...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T17/05G06T17/20G06T5/00
CPCG06T17/05G06T17/20G06T2207/10028G06T2207/10044G06T5/70
Inventor 王亚彪刘要龙葛午未
Owner ZONGMU TECH SHANGHAI CO LTD
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