A method and apparatus for constructing a map

By determining the relative pose and depth values ​​of the acquisition device, combining the positioning data, calculating the transformation parameters, mapping the lane lines to the public space and fitting them, the problems of complex and inefficient map construction in existing technologies are solved, and high-precision and efficient map construction is achieved.

CN117095607BActive Publication Date: 2026-03-24BEIJING SANKUAI ONLINE TECH CO LTD
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Patent Information

Application Number
CN202210515629.4
Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Filing Date
2022-05-11
Publication Date
2026-03-24
Estimated Expiration
2042-05-11

AI Technical Summary

Technical Problem

Existing technologies require complex optimization processes and high costs when building driving maps for autonomous vehicles, resulting in low map accuracy and low construction efficiency.

Method used

By determining the relative pose and depth values ​​of the acquisition device, combining the positioning data, calculating transformation parameters, mapping lane lines onto the public space, and fitting the data, a map is constructed.

Benefits of technology

It simplifies the map building optimization process, improves map accuracy and building efficiency, and ensures the accurate position and scale of lane lines in the absolute coordinate system.

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Abstract

The specification discloses a method and device for constructing a map, determining a relative pose of a specified collection device relative to lane lines involved in collected image data, and a depth value of the lane lines involved in the image data, and determining positioning data of the collection device in an absolute coordinate system when collecting the image data. According to the obtained relative pose, the depth value of the lane lines, and the positioning data, parameters for representing a spatial relationship between an image position of the lane lines in the image data and an actual position of the lane lines in the absolute coordinate system are determined as transformation parameters. According to the determined transformation parameters, an image of a lane line tracked from the image data is mapped to a preset common space. Each lane line mapped to the common space is fitted to obtain a fitted lane line, and a map is constructed according to the fitted lane line.
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