Pose optimization method and device, electronic equipment, medium and program product

Abstract

The embodiment of the invention discloses a pose optimization method and device, electronic equipment, a medium and a program product. The method comprises the steps of obtaining more than two times of collection data for the same road, and one time of collection data comprising feature points of a key frame image and corresponding initial pose data; grouping different times of acquisition data, and aligning different times of acquisition data in the same group to obtain first optimized pose data; carrying out pose map optimization on the first-time optimized pose data to obtain second-time optimized pose data, and pose map optimization at least comprising inter-frame relative pose constraints between key frame images with a common-view area between two times of acquired data; and finally, performing global light beam adjustment method optimization, so that the precision of the pose data is gradually improved. According to the technical scheme, the absolute precision and the relative precision of the overall pose can be improved, the pose data with higher precision can be recovered, a good basis is provided for high-precision map element reconstruction, and a high-precision map with higher precision can be reconstructed.

Description

technical field [0001] Embodiments of the present disclosure relate to the technical field of high-precision maps, and in particular to a pose optimization method, device, electronic equipment, media, and program products. Background technique [0002] In recent years, autonomous driving or intelligent driving technology research has become a hotspot and trend, and one of the realization paths of autonomous driving or intelligent driving relies on high-precision maps (referred to as high-precision maps, also known as high-definition maps or high-standard maps). High-precision maps can provide beyond-the-horizon perception for autonomous driving, and are also an important basis for autonomous driving decision-making. [0003] However, since the real world is dynamically changing, high-precision maps, as the digital expression of the real world, need to be updated continuously to ensure that the geographical elements and their attributes in the high-precision map are consisten...

AI Technical Summary

Problems solved by technology

The inventor found that the cost of professional high-precision map collection vehicles is too high to be deployed on a large scale. Therefore, it is difficult to use professional high-precision map collection vehicles to achieve timely and efficient update of high-precision maps

Images