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Construction method of 3D high-precision map based on vehicle-mounted point cloud data

A point cloud data, high-precision technology, applied in the field of 3D high-precision map construction, can solve problems such as not being able to update in time, achieve the effects of reducing labor costs, high-precision information collection, and improving data collection efficiency

Active Publication Date: 2021-07-02
SPEED SPACE TIME INFORMATION TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, in this technical solution, it is necessary to obtain the current and scheduled route of the automatic driving device to generate a high-precision map. If the route is changed, there will be a problem that it cannot be updated in time

Method used

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  • Construction method of 3D high-precision map based on vehicle-mounted point cloud data
  • Construction method of 3D high-precision map based on vehicle-mounted point cloud data

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0038] Example: such as figure 1 As shown, the construction method of the three-dimensional high-precision map based on vehicle-mounted point cloud data specifically includes the following steps:

[0039] S1: collect road point cloud data and panoramic photo data; in the step S1, collect road cloud data and panoramic photo data through a vehicle-mounted laser point cloud collection vehicle; vehicle-mounted laser point cloud collection vehicle performs road point cloud data and panoramic high-definition photos The automatic collection of roads has obtained high-precision point cloud data and high-definition panoramic photo data, realizing efficient, high-speed, and high-precision information collection of road geometry, improving data collection efficiency and reducing labor costs;

[0040] S2: extracting road vector data from the point cloud data and panoramic photo data obtained in step S1; the road vector data extracted in the step S2 includes road surface vector data and ro...

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Abstract

The invention discloses a method for constructing a three-dimensional high-precision map based on vehicle-mounted point cloud data, comprising the steps of: S1 collecting road point cloud data and panoramic photo data; S2 extracting road vector data from the point cloud data and panoramic photo data; S3 judges whether the element data in the road vector data is complete; if the element data is incomplete, return to step S2; if the element data is complete, then analyze and process; S4 forms the road centerline and lane according to the element data fitting in the road vector data center line, and then plan the topological geometric path of road intersections based on the guidance information of traffic signs; at the same time, analyze the slope and curvature through the center line of the road and the center line of the lane to obtain slope and curvature information; S5 combines the slope and curvature information with the element data The data is integrated to form layer groups of different levels, and then the elements of each layer group are hierarchically correlated to obtain a three-dimensional high-precision map.

Description

technical field [0001] The invention relates to the technical field of high-precision maps and unmanned control, in particular to a method for constructing a three-dimensional high-precision map based on vehicle-mounted point cloud data. Background technique [0002] Autonomous driving is the development trend of smart transportation in the future. Traditional navigation electronic maps can no longer meet the needs of autonomous driving. High-precision maps are the key infrastructure for automotive autonomous driving, so they are also called autonomous driving maps. Based on laser point cloud technology High-precision navigation maps can provide centimeter-level road network information through scanning, analysis, processing, and 3D reconstruction of the real environment, and accurately display scenes with dense traffic elements such as lane-level, complex intersections, and viaducts, providing a powerful infrastructure for autonomous driving Assure. [0003] At present, ma...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T17/05
CPCG06T17/05G06T2200/08
Inventor 朱必亮李俊郭果成
Owner SPEED SPACE TIME INFORMATION TECH CO LTD