Vehicle positioning method and device and computer readable storage medium

Abstract

The invention discloses a vehicle positioning method and device and a computer readable storage medium. The method comprises the steps of obtaining a driving scene image and pose information of a vehicle in a current driving state; extracting semantic features of the current driving scene image by using a semantic segmentation network, wherein the semantic features comprise scene features which are relatively stable in space and time; loopback detection is carried out on the semantic features in a loaded recently updated historical map, and if loopback is detected, global pose map optimization is carried out on the driving track of the vehicle according to the pose information, and the map is updated. According to the method, the vehicle is positioned by combining the visual inertial odometer and utilizing the stable scene features extracted by the semantic segmentation network, so that the robustness and the positioning precision of the positioning method are effectively improved, and a more stable and accurate vehicle repositioning effect in a dynamic scene is obtained.

Description

technical field [0001] The present invention relates to the technical field of positioning and navigation, and in particular, to a vehicle positioning method, device and computer-readable storage medium. Background technique [0002] In recent years, auto-driving technology has developed rapidly, and auto-parking technology has become one of the focuses of research and development in the field of autonomous driving. Summon-responsive integrated parking system. [0003] The existing automatic parking technology is mainly based on the vehicle localization algorithm of visual SLAM: by using the vehicle camera to obtain images, correspondingly extracting and tracking visual feature points, estimating the vehicle's own pose and the spatial position of the feature points; Pose optimization, realize vehicle positioning, and save feature point information and pose information to build a map, which can be loaded and reused when subsequent vehicles are relocated. [0004] However, i...

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Problems solved by technology

[0005] The invention provides a method and system for vehicle positioning and map construction, which can realize vehicle relocation and map construction through visual inertial odometer and semantic segmentation network model, and solve the problems of low vehicle positioning accuracy and poor relocation effect existing in the prior art

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