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Mapping method and device, electronic equipment and storage medium

A map and image technology, applied in the field of automatic driving, can solve problems such as low efficiency of map construction and inflexible map construction schemes, and achieve the effect of flexible parameter adjustment and improvement of map construction efficiency

Pending Publication Date: 2022-04-05
UISEE TECH BEIJING LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] In practical applications, the inventors found that the commonly used mapping schemes have the following problems: the mapping scheme is not flexible, and the steps of pose graph optimization are performed sequentially for each frame of sensor data. In this way, if low-precision GPS data appears, then Engineering personnel are required to intervene in a large amount of parameter adjustment work and repeatedly build maps, resulting in low map building efficiency

Method used

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  • Mapping method and device, electronic equipment and storage medium
  • Mapping method and device, electronic equipment and storage medium
  • Mapping method and device, electronic equipment and storage medium

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Embodiment Construction

[0030] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein; A more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only, and are not intended to limit the protection scope of the present disclosure.

[0031] It should be noted that concepts such as "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the sequence of functions performed by these devices, modules or units or interdependence.

[0032] The names of messages or information exchanged between multiple devi...

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Abstract

The embodiment of the invention discloses a mapping method and device, electronic equipment and a storage medium. The method comprises the following steps: processing preset sensor data; wherein the preset sensor data are all data collected in a preset time period, and the preset time period is a time period from operation start to operation end of the target vehicle in a preset scene; when processing of the preset sensor data is completed, performing first pose map optimization processing based on an obtained processing result and original GPS data to obtain a first target pose of the key frame; and constructing a map of the preset scene based on the first target pose of the key frame and original data corresponding to the key frame. According to the invention, the mapping precision and efficiency are improved.

Description

technical field [0001] The present disclosure relates to the technical field of automatic driving, and in particular to a mapping method, device, electronic equipment and storage medium. Background technique [0002] Mapping and positioning technology is one of the core technologies in the field of autonomous driving. In unmanned driving scenarios, it is usually necessary to map the environment first, and then realize the positioning function in the built map. The accuracy of mapping will greatly affect the accuracy of positioning. Therefore, if you want to achieve high-precision positioning, you must first establish a high-precision map. [0003] At present, the commonly used mapping scheme is mainly based on the scheme of GPS (Global Positioning System, Global Positioning System) + SLAM (Simultaneous Localization And Mapping, simultaneous positioning and mapping). [0004] In practical applications, the inventors found that the commonly used mapping schemes have the foll...

Claims

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Application Information

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IPC IPC(8): G01C21/00G01C21/34G01S17/931G01S17/86G01S19/47G01C21/16
Inventor 李昊来冯景怡张兴连张丹
Owner UISEE TECH BEIJING LTD