Rapid optimization method and system for matching and positioning of vision and high-precision map, and medium
A technology of map matching and optimization method is applied in the field of intelligent networked vehicle environment perception, which can solve the problems of computing power requirements and large amount of calculation of computing equipment, and achieve the effect of reducing equipment cost and ensuring computing accuracy.
Pending Publication Date: 2022-05-13
TSINGHUA UNIV
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However, the matching calculation of vision and high-precision maps usually requires a large amount of calculation, which requires high computing power of computing equipment.
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[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the following will clearly and completely describe the technical solutions of the embodiments of the present invention in conjunction with the drawings of the embodiments of the present invention. Apparently, the described embodiments are some, not all, embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention belong to the protection scope of the present invention.
[0032] It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and / or "compr...
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The invention relates to a rapid optimization method and system for vision and high-precision map matching positioning and a medium. The method comprises the following steps: acquiring monocular image information and GNSS signals in real time; performing perception processing on the monocular image information to obtain a map element result of image perception; obtaining map positioning elements around the vehicle in a map according to the GNSS signal; and carrying out map matching calculation on the map element result and the map positioning elements around the vehicle to obtain a global six-degree-of-freedom pose, and taking the global six-degree-of-freedom pose as an optimization result of map matching positioning. According to the invention, for the application scene of the intelligent network connection automobile, the positioning calculation complexity can be reduced, and the method adapts to a calculation platform with lower calculation power.
Description
technical field [0001] The invention relates to the field of environment perception of intelligent networked vehicles, in particular to a rapid optimization method, system and medium for matching and positioning of vision and high-precision maps. Background technique [0002] The driving of intelligent networked vehicles requires accurate perception of the surrounding environment and its own state to support subsequent decision-making and control. The accurate estimation of its own pose is also the basis for intelligent networked vehicles to perform trajectory planning, control and other functions. GPS-based passive pose estimation is limited by satellite signals, making it difficult to support all driving conditions of high-level autonomous driving. A low-cost solution is to use camera images to match with high-resolution maps for localization. However, the matching calculation of vision and high-precision maps usually requires a large amount of calculation, which require...
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Login to View More IPC IPC(8): G06T7/73G06N3/04G01S19/45G01C21/30
CPCG06T7/73G01C21/30G01S19/45G06T2207/10012G06T2207/20084G06T2207/30244G06N3/045
Inventor 江昆杨殿阁温拓朴杨蒙蒙唐雪薇黄健强黄琪杰
Owner TSINGHUA UNIV