Mobile equipment positioning system, related method, device and equipment

A mobile device and positioning system technology, applied in the direction of measuring devices, navigation, instruments, etc., can solve the problems of low positioning accuracy and real-time performance of equipment, and achieve the effect of high positioning real-time performance and high positioning accuracy

Pending Publication Date: 2021-07-20
ALIBABA GRP HLDG LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] This application provides a mobile device positioning system to solve the pr

Method used

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  • Mobile equipment positioning system, related method, device and equipment
  • Mobile equipment positioning system, related method, device and equipment
  • Mobile equipment positioning system, related method, device and equipment

Examples

Experimental program
Comparison scheme
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Example

[0174] First embodiment

[0175] Please refer to figure 1 It is an example diagram of a mobile device positioning system embodiment provided by the present application. One mobile device positioning system provided herein includes: the first mobile device 1, the server 2, and the second mobile device 2.

[0176] The processing of the system provided by the embodiment of the present application embodiment includes two phases: 1, the map data generating stage, which generates map data through the first mobile device (referred to as a pitter) and the server, the map data It can be the compressed sparse cloud data that covers all road static elements (road features) in the target road area, or it may be a complete point of the compressed sparse point cloud data including some road static elements, and the integrity of some road static elements. The cloud data can also be a compressed sparse cloud data including only some road static elements. In summary, the map data can be a sparse 3...

Example

[0259] Second embodiment

[0260] In the above embodiment, a mobile device positioning system is provided, and the present application is also provided with a map data generation method. The method is corresponding to the embodiment of the above method.

[0261] Please refer to Figure 5 It is a flow chart of an embodiment of the map data generation method of the present application, and the execution body of the method includes a map data generating apparatus, which can be deployed on the first mobile device. Since the method embodiment is substantially similar to the system embodiment, it is described in relatively simple, and the partial description of the first embodiment of the system is described. The method embodiments described below are merely illustrative.

[0262] A map data generation method of this embodiment, including:

[0263] Step S501: Acquire the road environment point cloud data.

[0264] Step S503: Compressing the point cloud data of the road static element to ...

Example

[0273] Third embodiment

[0274] Please refer to Figure 6 It is a schematic diagram of an embodiment of the map data generating apparatus of the present application. The present application also provides a map data generating device. Since the device embodiment is substantially similar to the method embodiment, the partial description of the method embodiment will be described relatively simple. The apparatus embodiment described below is merely schematic.

[0275] A map data generating apparatus of this embodiment, including:

[0276] The data acquisition unit 601 is used to collect road environment point cloud data;

[0277] The data compression unit 603 is used to compress the point cloud data of the road static element to be compressed in the road environment point cloud data;

[0278] The data transmitting unit 605 is configured to transmit compressed point cloud data to the server to facilitate the storage of compressed point cloud data into the map data.

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Abstract

The invention discloses a mobile equipment positioning system, a related method, a device and equipment. The method comprises steps of enabling the system to collect first road environment point cloud data through first mobile equipment, compressing point cloud data of road static elements to be compressed in the first road environment point cloud data; sending the decompressed point cloud data to a server; enabling the server to store the decompressed point cloud data into map data; acquiring second road environment point cloud data through second mobile equipment; determining first pose data of the second mobile equipment; determining local map data corresponding to the first pose according to the map data; decompressing the compressed road static element data in the local map data; and determining second pose data of the second mobile equipment according to the second road environment point cloud data and the decompressed point cloud data. By adopting the processing mode, two aspects of relatively high positioning accuracy and positioning real-time performance can be effectively considered.

Description

technical field [0001] The present application relates to the field of automatic driving technology, and specifically relates to mobile device positioning systems, methods and devices, map data generation methods and devices, map data selection methods and devices, road dynamic element determination methods and devices, electronic devices, and mobile devices. Background technique [0002] In mobile device positioning scenarios such as autonomous driving, indoor robots, and drones, mobile device positioning technology based on environmental maps can be used. Taking autonomous driving as an example, this technology allows the use of high-performance map-collecting vehicles to obtain road maps with a certain level of clarity in advance. During real-time positioning, mobile devices obtain real-time observed point cloud data through sensors, and then combine the observed data with The map data is registered to obtain the pose data of the mobile device. [0003] Currently, there ...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/28G01C21/32
CPCG01C21/005G01C21/28G01C21/32
Inventor 颜扬治
Owner ALIBABA GRP HLDG LTD
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