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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

AI Technical Summary

Problems solved by technology

[0005] This application provides a mobile device positioning system to solve the problems of low device positioning accuracy and real-time performance in the prior art

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
Effect test

no. 1 example

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

[0176] The system provided by the embodiment of the present application realizes the processing process of mobile device positioning including two stages: 1. Map data generation stage. In this stage, map data is generated through the interaction between the first mobile device (referred to as the map collection vehicle) and the server. The map data It can be compressed sparse point cloud data covering all road static elements (road features) in the target road area, or compressed sparse point cloud data including some road static elements, and complete points of some road static elements Cloud data can also be compressed sparse point cloud data that only includes some road static el...

no. 2 example

[0260] In the above embodiments, a mobile device positioning system is provided, and correspondingly, the present application also provides a method for generating map data. This method corresponds to the embodiment of the above method.

[0261] Please refer to Figure 5 , which is a flow chart of an embodiment of the method for generating map data of the present application. The execution body of the method includes a map data generating device, which can be deployed on the first mobile device. Since the method embodiment is basically similar to the system embodiment 1, the description is relatively simple, and for relevant details, refer to the part of the description of the system embodiment 1. The method embodiments described below are illustrative only.

[0262] A method for generating map data in this embodiment includes:

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

[0264] Step S503: Compress the point cloud data of road static elements to be comp...

no. 3 example

[0274] Please refer to Figure 6 , which is a schematic diagram of an embodiment of the map data generation device of the present application. The present application also provides a device for generating map data. Since the device embodiment is basically similar to the method embodiment, the description is relatively simple, and for relevant parts, refer to the part of the description of the method embodiment. The device embodiments described below are illustrative only.

[0275] A device for generating map data in this embodiment includes:

[0276] A data collection unit 601, configured to collect road environment point cloud data;

[0277] A data compression unit 603, configured to compress the point cloud data of road static elements to be compressed in the road environment point cloud data;

[0278] The data sending unit 605 is configured to send the compressed point cloud data to the server, so that the server can store the compressed point cloud data in the map data...

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PUM

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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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