Pose optimization method and device

An optimization method and pose technology, applied in image data processing, instruments, calculations, etc., can solve problems such as inaccuracy

Pending Publication Date: 2022-04-12
BEIJING SANKUAI ONLINE TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] In the existing technology, the pose of each frame of point cloud data collected by the acquisition device can be obtained directly by matching the collected point cloud data, but this method may have certain inaccuracies

Method used

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  • Pose optimization method and device
  • Pose optimization method and device

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Embodiment Construction

[0061] In order to make the purpose, technical solution and advantages of this specification clearer, the technical solution of this specification will be clearly and completely described below in conjunction with specific embodiments of this specification and corresponding drawings. Apparently, the described embodiments are only some of the embodiments in this specification, not all of them. Based on the embodiments in this specification, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this specification.

[0062] The technical solutions provided by each embodiment of this specification will be described in detail below in conjunction with the accompanying drawings.

[0063] figure 1 It is a schematic flow chart of a pose optimization method in this manual, which specifically includes the following steps:

[0064] S101: Obtain several point cloud data collected by a designated device.

[00...

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Abstract

The invention discloses a pose optimization method and device, relates to the field of unmanned driving, and can obtain a plurality of point cloud data collected by specified equipment, and determine the relative pose of the specified equipment when collecting every two frames of point cloud data in each group of point cloud data for each group of point cloud data. Determining a pose estimation value corresponding to each frame of point cloud data in the group of point cloud data by the specified equipment, determining a relative pose residual error corresponding to the group of point cloud data according to the pose estimation value and the relative pose, and determining a weight of the relative pose residual error corresponding to the group of point cloud data; the method comprises the steps of obtaining a group of point cloud data, compensating a relative pose residual error corresponding to the group of point cloud data to obtain a compensated relative pose residual error, determining a comprehensive residual error according to the compensated relative pose residual error corresponding to each group of point cloud data, and optimizing a pose estimation value corresponding to each frame of point cloud data by taking minimization of the comprehensive residual error as a target. Therefore, the accuracy of the pose estimation value obtained through optimization can be improved to a certain extent.

Description

technical field [0001] This specification relates to the field of unmanned driving, in particular to a pose optimization method and device. Background technique [0002] In the field of unmanned driving, the accurate determination of the pose can affect the accuracy of the constructed high-precision map, that is, in the process of constructing the high-precision map, it is necessary to determine the pose of the acquisition device that collects the point cloud data. In this way, the point cloud data is converted into the world coordinate system to construct a high-precision map through the point cloud data. Therefore, the accuracy of the pose of the acquisition device will affect the accuracy of the constructed high-precision map. [0003] In the prior art, the pose of each frame of point cloud data collected by the acquisition device can be obtained directly by matching the collected point cloud data, but this method may have certain inaccuracies. [0004] Therefore, how to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/73
Inventor 余丽任海兵陆亚辛喆邱靖烨
Owner BEIJING SANKUAI ONLINE TECH CO LTD
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