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Speedometer method and device based on multi-sensor fusion

A multi-sensor fusion and sensor technology, which is applied in measuring devices, instruments, navigation, etc., can solve the problem of inaccurate pose estimation and achieve good robustness and accurate results

Pending Publication Date: 2021-12-21
BEIJING TUSEN WEILAI TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The embodiment of the present application provides an odometer method and device based on multi-sensor fusion, which can solve the problem of inaccurate pose estimation in scenes with sparse features and poor GPS signals

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  • Speedometer method and device based on multi-sensor fusion
  • Speedometer method and device based on multi-sensor fusion
  • Speedometer method and device based on multi-sensor fusion

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Embodiment Construction

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0025] It should be noted that the terms "first" and "second" in the description and claims of the present application and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances for the embodiments of the application described herein. Furthermore, the terms "comprising" and "having", as well as any variations the...

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Abstract

The invention provides a speedometer method and device based on multi-sensor fusion, and relates to the technical field of high-precision maps. The method is applied to a movable object carrying various sensors, and comprises the following steps: acquiring sensor data collected by the various sensors carried on the movable object in real time; carrying out modelingon sensor data collected by various sensors, and establishing the constraint relation of the pose of the movable object; and carrying out joint optimization solution on the constraint relation of the pose of the movable object, and determining a pose result of the movable object. According to the embodiment of the invention, the real-time pose estimation of the movable object in a scene with sparse features and poor GPS signals can be realized, the result is accurate, and the robustness is good.

Description

technical field [0001] The present application relates to the technical field of high-precision maps, and in particular to an odometer method and device based on multi-sensor fusion. Background technique [0002] At present, with the development of autonomous driving technology and intelligent robot technology, how to ensure the precise driving of autonomous vehicles and intelligent robots has become a hot issue. In autonomous driving technology, high-precision maps are generally used, which are different from traditional navigation maps. High-precision maps contain a large amount of driving assistance information. The most important information is the accurate three-dimensional representation of the road network, such as intersection layout and road signs. location etc. In addition, high-resolution maps also contain a lot of semantic information. The map may report the meaning of different colors on communication traffic lights, it may indicate the speed limit of the road,...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/00
CPCG01C21/165G01C21/005
Inventor 刘光伟赵季
Owner BEIJING TUSEN WEILAI TECH CO LTD
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