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Point cloud map initialization method and device

An initialization method and initialization technology, which is applied in the computer field, can solve the problems of low initialization positioning efficiency and difficult maintenance, and achieve the effect of precise initialization positioning and overcoming low efficiency

Pending Publication Date: 2021-07-16
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] In view of this, the embodiments of the present invention provide a point cloud map initialization method and device, which can solve the existing problems of low initialization positioning efficiency and difficult maintenance in point cloud maps

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  • Point cloud map initialization method and device
  • Point cloud map initialization method and device

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Embodiment Construction

[0033] Exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the present invention to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0034] figure 1 is a schematic diagram of the main flow of the point cloud map initialization method according to the first embodiment of the present invention, as figure 1 As shown, the point cloud map initialization method includes:

[0035] In step S101, the point cloud data of the current frame is obtained, and the current image is generated to calculate the current ...

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Abstract

The invention discloses a point cloud map initialization method and device, and relates to the technical field of computers. A specific embodiment of the method comprises the steps of obtaining point cloud data of a current frame, generating a current image, and calculating a current bag-of-word vector; and based on the word bag vector corresponding to each sub-graph of the point cloud map, respectively calculating the similarity with the current word bag vector so as to determine the sub-graph serving as an initialization region, and further obtaining the pose of the current frame. According to the embodiment of the invention, the problems of low initialization positioning efficiency and difficult maintenance in the existing point cloud map can be solved.

Description

technical field [0001] The present invention relates to the field of computer technology, in particular to a point cloud map initialization method and device. Background technique [0002] In the field of automatic driving, the initial positioning in the point cloud map plays an extremely important role, such as using violent point cloud matching methods, memory location methods, and so on. [0003] In the course of realizing the present invention, the inventor finds that there are at least the following problems in the prior art: [0004] There are some defects in the current initial positioning. The violent point cloud matching method takes a lot of time when the point cloud map is large. The method of memorizing the position is simple and easy, but it cannot solve the kidnapping problem (that is, move the position when the power is off, and initialize it when the power is on), and it is not convenient for later maintenance. Contents of the invention [0005] In view o...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73G06K9/00G06K9/34G06K9/46
CPCG06T7/73G06V20/56G06V10/267G06V10/464
Inventor 张鹏
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD