Autonomous mapping and positioning method and device based on graph optimization and electronic equipment

Abstract

The application provides an autonomous mapping and positioning method and device based on graph optimization and an electronic device, relates to the technical field of autonomous mapping and positioning, and comprises the following steps: matching point cloud information collected by a mileage counter and a surround perception device of a current vehicle with reference point cloud in a preset sliding window to determine point cloud pair error information; inputting the point cloud pair error information into a graph optimization model to determine fused and optimized pose information; and performing current vehicle positioning and target category mapping according to the fused and optimized pose information, so that the technical problems that the positioning and mapping accuracy is high, the required cost is high, the real-time performance is not high and the implementation is not easy in the prior art are solved.

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