Map construction method and device

Abstract

The invention discloses a map construction method and device, a computer readable storage medium and electronic equipment. The map construction method comprises the following steps of: splitting a road into at least one road unit; acquiring sub-point cloud data corresponding to each road unit; aiming at the sub-point cloud data corresponding to each road unit, constructing a corresponding Gaussian mixture map; and based on the Gaussian mixture map corresponding to each road unit, acquiring a highly Gaussian mixture map. According to the map construction method, the actual scene of the road is fully considered in the map construction process, so that the map can be loaded according to the actual scene of the road in the positioning process, the positioning accuracy is effectively improved, and the calculation cost in the positioning process is reduced.

Description

technical field [0001] The present application relates to the technical field of electronic maps, and more specifically, to a map construction method and device. Background technique [0002] During the driving process of the vehicle, it is usually necessary to collect road surface images in real time and load the map to realize the positioning and navigation of the vehicle. In order to have a good localization of the vehicle's position and to navigate the vehicle, pre-mapping is required. [0003] At present, when constructing a map, the usual method is to fit the height distribution of the entire point cloud within a certain horizontal range, so that there is no problem in obtaining a map for roads on the same plane, but for some stereoscopic scenes (such as Overpasses, underground garages, multi-storey garages, etc.), because the same plane coordinates may correspond to multiple roads, the actual scene of each road cannot be considered when using the existing method to c...

AI Technical Summary

Problems solved by technology

[0003] At present, when constructing a map, the usual method is to fit the height distribution of the entire point cloud within a certain horizontal range, so that there is no problem in obtaining a map for roads on the same plane, but for some stereoscopic scenes (such as Overpasses, underground garages, multi-storey garages, etc.), because the same plane coordinates may correspond to multiple roads, the actual scene of each road cannot be considered when using the existing method to construct the map, so that the obtained map information cannot be applied to each road positioning, resulting in unsatisfactory positioning effect

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