Confidence coefficient optimization method and device of laser odometer, electronic equipment and computer program product

Abstract

The invention discloses a confidence coefficient optimization method and device of a laser odometer, electronic equipment and a computer program product, and the method comprises the following steps: obtaining laser positioning information output by the laser odometer and satellite positioning information output by satellite positioning equipment, the laser positioning information comprising a matching score corresponding to the laser positioning information; determining the current reckoning distance of the laser speedometer according to the satellite positioning information; and determining the current confidence coefficient corresponding to the laser positioning information according to the current calculation distance of the laser speedometer and the matching score corresponding to the laser positioning information. The confidence coefficient optimization method of the laser odometer does not simply depend on the matching score output by the laser odometer to calculate the confidence coefficient, further considers the influence of the current calculation distance of the laser odometer on the confidence coefficient calculation on the basis, comprehensively calculates the confidence coefficient, and improves the calculation accuracy. Therefore, the accuracy of confidence calculation of the laser speedometer is improved, and accurate and reliable reference information can be provided for other subsequent modules.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a confidence optimization method, device, electronic equipment, and computer program product for a laser odometer. Background Art

[0002] At present, with the rapid development of autonomous driving technology, in order to adapt to the needs of multiple scenarios, laser odometers are used not only for laser SLAM mapping (Simultaneous Localization and Mapping), but also for laser SLAM positioning.

[0003] However, in the laser SLAM positioning process, the laser odometer has cumulative errors, and the errors will increase with the number of frames. The confidence calculated by the traditional matching algorithm can only represent the matching status of the current frame, but cannot represent the absolute error of the current frame, and thus cannot provide accurate reference information for other modules. Summary of the invention

[0004] The embodiments of the present application provide a confidence optimization method, device, electronic device, and computer program product for a laser odometer to improve the accuracy of confidence calculation of the laser odometer.

[0005] The present application embodiment adopts the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a confidence optimization method for a laser odometer, wherein the confidence optimization method for the laser odometer includes:

[0007] Acquire laser positioning information output by a laser odometer and satellite positioning information output by a satellite positioning device, wherein the laser positioning information includes a matching score corresponding to the laser positioning information;

[0008] Determining the current estimated distance of the laser odometer according to satellite positioning information;

[0009] The current confidence level corresponding to the laser positioning information is determined according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information.

[0010] Optionally, the acquiring of laser positioning information output by a laser odometer and satellite positioning information output by a satellite positioning device includes:

[0011] Determining a positioning status of the satellite positioning information;

[0012] When the positioning state of the satellite positioning information is a normal state, the satellite positioning information output by the satellite positioning device is acquired.

[0013] Optionally, the satellite positioning information is satellite positioning information corresponding to the laser positioning information of the current frame, and determining the current estimated distance of the laser odometer according to the satellite positioning information includes:

[0014] Obtain satellite positioning information corresponding to the laser positioning information of the first frame;

[0015] The current estimated distance of the laser odometer is determined according to the satellite positioning information corresponding to the laser positioning information of the first frame and the satellite positioning information corresponding to the laser positioning information of the current frame.

[0016] Optionally, determining the current confidence level corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information includes:

[0017] Calculating a first confidence level of the laser odometer according to a current estimated distance of the laser odometer;

[0018] Calculating a second confidence level of the laser odometer according to the matching score corresponding to the laser positioning information;

[0019] The current confidence level corresponding to the laser positioning information is calculated according to the first confidence level and the second confidence level of the laser odometer.

[0020] Optionally, calculating the first confidence of the laser odometer according to the current estimated distance of the laser odometer includes:

[0021] Determining whether the current estimated distance is greater than a preset distance threshold;

[0022] If yes, then the first confidence level is set to 0;

[0023] Otherwise, a first confidence level of the laser odometer is calculated according to the current estimated distance of the laser odometer.

[0024] Optionally, calculating the current confidence of the laser odometer according to the first confidence and the second confidence of the laser odometer comprises:

[0025] The first confidence level and the second confidence level of the laser odometer are weightedly fused to obtain a current confidence level corresponding to the laser positioning information.

[0026] Optionally, after determining the current confidence corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information, the confidence optimization method of the laser odometer further includes:

[0027] Determine whether the current confidence level corresponding to the laser positioning information is greater than a preset confidence threshold;

[0028] If yes, performing fusion positioning according to the satellite positioning information, the laser positioning information and the current confidence level corresponding to the laser positioning information;

[0029] Otherwise, the laser positioning information is discarded.

[0030] In a second aspect, an embodiment of the present application further provides a confidence optimization device for a laser odometer, wherein the confidence optimization device for a laser odometer comprises:

[0031] A first acquisition unit is used to acquire laser positioning information output by the laser odometer and satellite positioning information output by the satellite positioning device, wherein the laser positioning information includes a matching score corresponding to the laser positioning information;

[0032] A first determining unit, configured to determine a current estimated distance of the laser odometer according to satellite positioning information;

[0033] The second determination unit is used to determine the current confidence corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information.

[0034] In a third aspect, an embodiment of the present application further provides an electronic device, including:

[0035] Processor; and

[0036] A memory arranged to store computer executable instructions, which, when executed, cause the processor to perform any of the aforementioned confidence optimization methods for the laser odometer.

[0037] In a fourth aspect, an embodiment of the present application further provides a computer program product, including a computer program or instructions, which, when executed by a processor, implements any of the aforementioned confidence optimization methods for the laser odometer.

[0038] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: the confidence optimization method of the laser odometer in the embodiments of the present application first obtains the laser positioning information output by the laser odometer and the satellite positioning information output by the satellite positioning device, the laser positioning information including the matching score corresponding to the laser positioning information; then determines the current estimated distance of the laser odometer according to the satellite positioning information; finally determines the current confidence corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information. The confidence optimization method of the laser odometer in the embodiments of the present application does not simply rely on the matching score output by the laser odometer to calculate the confidence, but on this basis, further considers the influence of the current estimated distance of the laser odometer on the confidence calculation, and comprehensively calculates the confidence, thereby improving the accuracy of the confidence calculation of the laser odometer, and can provide accurate and reliable reference information for subsequent other modules. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0040] Figure 1 A schematic diagram of a flow chart of a confidence optimization method for a laser odometer in an embodiment of the present application;

[0041] Figure 2 It is a structural schematic diagram of a confidence optimization device of a laser odometer in an embodiment of the present application;

[0042] Figure 3 It is a schematic diagram of the structure of an electronic device in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0044] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0045] The present application also provides a method for optimizing the confidence of a laser odometer. Figure 1As shown, a flow chart of a confidence optimization method of a laser odometer in an embodiment of the present application is provided, and the confidence optimization method of the laser odometer at least includes the following steps S110 to S130:

[0046] Step S110, obtaining laser positioning information output by the laser odometer and satellite positioning information output by the satellite positioning device, wherein the laser positioning information includes a matching score corresponding to the laser positioning information.

[0047] When optimizing the confidence of the laser odometry in the embodiment of the present application, it is necessary to first obtain the laser positioning information currently output by the laser odometry and the satellite positioning information currently output by the satellite positioning device. The laser positioning information mainly includes the matching score of the laser positioning information. The matching score can be output by the matching algorithm of the laser point cloud, such as ICP (Iterative Closest Point), NDT (Normal Distribution Transform) and other algorithms, which can reflect the accuracy of the laser point cloud positioning results to a certain extent. The satellite positioning results can be provided by GPS, and specifically may include data such as satellite positioning position and attitude.

[0048] Since the output frequencies of the laser positioning information and the satellite positioning information are different, in order to ensure the accuracy of data processing, the laser positioning information and the satellite positioning information can also be time synchronized to establish a time correspondence between the laser positioning information and the satellite positioning information.

[0049] Step S120, determining the current estimated distance of the laser odometer according to the satellite positioning information.

[0050] Under normal circumstances, the satellite positioning information output by GPS has a high positioning accuracy. Therefore, the embodiment of the present application can accurately calculate the distance that the laser odometer has currently calculated based on the satellite positioning information output by GPS.

[0051] Step S130, determining the current confidence level corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information.

[0052] Since the laser odometry has cumulative errors, the farther the calculation is, the greater the cumulative error. Therefore, the embodiment of the present application combines the current estimated distance of the laser odometry and the matching score corresponding to the laser positioning information to recalculate the current confidence corresponding to the laser positioning information. Compared with simply relying on the matching score corresponding to the laser positioning information to calculate the confidence, the accuracy of the confidence calculation is greatly improved.

[0053] The confidence optimization method of the laser odometer in the embodiment of the present application does not simply rely on the matching score output by the laser odometer to calculate the confidence, but on this basis, further considers the impact of the current estimated distance of the laser odometer on the confidence calculation, and comprehensively calculates the confidence, thereby improving the accuracy of the confidence calculation of the laser odometer, and can provide accurate and reliable reference information for subsequent other modules.

[0054] In some embodiments of the present application, the obtaining of laser positioning information output by a laser odometer and satellite positioning information output by a satellite positioning device includes: determining a positioning status of the satellite positioning information; and when the positioning status of the satellite positioning information is normal, obtaining the satellite positioning information output by the satellite positioning device.

[0055] Since satellite positioning information is the basis for achieving confidence optimization in the embodiments of the present application, it is necessary to ensure that the satellite positioning information itself meets the accuracy requirements. Therefore, when acquiring satellite positioning information, the embodiments of the present application need to first determine the current satellite positioning state, that is, whether it is a differential state. If it is a differential state, it can be considered that the accuracy of the current satellite positioning information meets the requirements and can be used for subsequent confidence optimization. If it is a non-differential state, the satellite positioning information itself also has errors and cannot be used for subsequent confidence optimization.

[0056] In some embodiments of the present application, the satellite positioning information is the satellite positioning information corresponding to the laser positioning information of the current frame, and determining the current calculated distance of the laser odometer based on the satellite positioning information includes: obtaining the satellite positioning information corresponding to the laser positioning information of the first frame; determining the current calculated distance of the laser odometer based on the satellite positioning information corresponding to the laser positioning information of the first frame and the satellite positioning information corresponding to the laser positioning information of the current frame.

[0057] The calculated distance of the laser odometer can be understood as the cumulative distance traveled by the laser odometer to calculate the laser positioning information. Since the satellite positioning information has a high positioning accuracy under normal conditions, the embodiment of the present application can calculate the calculated distance based on the satellite positioning information. Since the purpose of calculating the calculated distance is to reflect the cumulative error of the laser odometer, the first frame of laser positioning data calculated by the laser odometer and the current frame of laser positioning data currently calculated can be used as the basis to obtain the satellite positioning information corresponding to the first frame of laser positioning data as the starting point for calculating the current calculated distance, and obtain the satellite positioning information corresponding to the current frame of laser positioning data as the end point for calculating the current calculated distance. Specifically, the satellite positioning information corresponding to the laser positioning data can be obtained through time synchronization and other methods.

[0058] Furthermore, based on the satellite positioning information corresponding to the laser positioning information of the first frame and the satellite positioning information corresponding to the laser positioning information of the current frame, a distance calculation algorithm such as the Euclidean distance algorithm is used to calculate the distance between the two positions as the current estimated distance of the laser odometer.

[0059] In some embodiments of the present application, determining the current confidence corresponding to the laser positioning information based on the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information includes: calculating the first confidence of the laser odometer based on the current estimated distance of the laser odometer; calculating the second confidence of the laser odometer based on the matching score corresponding to the laser positioning information; calculating the current confidence corresponding to the laser positioning information based on the first confidence and the second confidence of the laser odometer.

[0060] The optimized confidence of the embodiment of the present application may include two aspects. One aspect is to dynamically calculate the first confidence C1 of the laser odometer based on the current estimated distance of the laser odometer, and dynamically reflect the accumulated error of the laser odometer through the real-time calculation of the current estimated distance, thereby dynamically measuring the confidence of the laser positioning information. The other aspect is to calculate the second confidence C2 of the laser odometer based on the matching score corresponding to the laser positioning information originally output by the laser odometer. Although there is a deviation in the prior art that simply relies on the matching score corresponding to the laser positioning information to calculate the confidence, it can still provide a certain reference. Therefore, the first confidence C1 and the second confidence can be combined to calculate the current confidence corresponding to the laser positioning information, thereby improving the accuracy and reliability of the confidence calculation.

[0061] In some embodiments of the present application, calculating the first confidence of the laser odometer based on the current estimated distance of the laser odometer includes: determining whether the current estimated distance is greater than a preset distance threshold; if so, setting the first confidence to 0; otherwise, calculating the first confidence of the laser odometer based on the current estimated distance of the laser odometer.

[0062] Since the laser odometer has a cumulative error, and it increases with the increase of the estimated distance, when the estimated distance reaches a certain value, the cumulative error of the laser odometer is very large, and the corresponding confidence should be very small. Therefore, the embodiment of the present application can set a distance threshold d0 as a judgment condition to constrain the calculation of the first confidence C1. If the current estimated distance d is not greater than the distance threshold, then the corresponding first confidence C1 is calculated according to the actual estimated distance. The requirement is that the larger the estimated distance, the smaller the corresponding first confidence C1. If the current estimated distance is greater than the distance threshold, it is considered that the cumulative error is large at this time, and the first confidence C1 can be directly set to 0.

[0063] To facilitate understanding of the above embodiment, the calculation of the first confidence level C1 in the embodiment of the present application can be expressed as follows:

[0064] C1=1-d / d0, where d≤d0, (1)

[0065] C1=0, where d>d0, (2)

[0066] Of course, the specific calculation rules and distance threshold values ​​can be flexibly set by those skilled in the art according to actual needs, and are not specifically limited here.

[0067] In some embodiments of the present application, calculating the current confidence of the laser odometer based on the first confidence and the second confidence of the laser odometer includes: weighted fusion of the first confidence and the second confidence of the laser odometer to obtain the current confidence corresponding to the laser positioning information.

[0068] After obtaining the first confidence C1 and the second confidence C2, a certain fusion strategy can be adopted to perform weighted fusion on the first confidence C1 and the second confidence C2. For example, it can be expressed as follows:

[0069] C=α*C1+β*C2, (3)

[0070] Among them, α and β are the fusion weights corresponding to the first confidence and the second confidence respectively, and α+β=1. Those skilled in the art can flexibly set the size of the fusion weight according to the actual scene requirements, and no specific limitation is made here.

[0071] In some embodiments of the present application, since the matching score output by the laser point cloud matching algorithm fluctuates greatly and cannot be fully trusted, but considering that its range is generally between [0,4], where the reliability between [0,1] is lower and the reliability between [3,4] is higher, the embodiments of the present application can use a certain mapping algorithm to reasonably map the matching score of the laser point cloud to obtain the second confidence level of the laser odometer.

[0072] The mapping algorithm adopted in the embodiment of the present application may be a Sigmoid function. The Sigmoid function is an S-shaped function with a domain interval of [-∞, +∞] and a range interval of [0, 1]. That is, it can map the independent variable x to the interval [0, 1]. The general form of the Sigmoid function is:

[0073]

[0074] Since the range of the matching score output by the laser point cloud matching algorithm is generally between [0,4], where the reliability between [0,1] is low and the reliability between [3,4] is high, and the confidence interval required by the embodiment of the present application is [0,1], that is, the accuracy of the positioning result is reflected in the form of probability. Therefore, combined with the curve characteristics of the above-mentioned Sigmoid function, and considering that most of the effective definition domain of the Sigmoid function is concentrated in [-6,6], the matching score can be set as the independent variable x of the Sigmoid function, and the effective definition threshold interval of the Sigmoid function [-6,6] is mapped to [0,4]. At this time, the obtained Sigmoid function form is:

[0075]

[0076] The above formula (5) is the Sigmoid function obtained after mapping in the embodiment of the present application. The corresponding independent variable x has a value interval of [0,4] and a value range of [0,1]. That is, for each matching score between [0,4], a corresponding second confidence level between [0,1] can be obtained. The larger the value of the second confidence level, the more accurate the laser positioning result.

[0077] Of course, the specific method for calculating the second confidence level can be flexibly set by those skilled in the art according to actual needs, and is not specifically limited here.

[0078] In some embodiments of the present application, after determining the current confidence corresponding to the laser positioning information based on the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information, the confidence optimization method of the laser odometer also includes: determining whether the current confidence corresponding to the laser positioning information is greater than a preset confidence threshold; if so, performing fusion positioning based on the satellite positioning information, the laser positioning information and the current confidence corresponding to the laser positioning information; otherwise, discarding the laser positioning information.

[0079] After calculating the optimized confidence, the optimized confidence can also be sent to other modules, for example, it can be sent to the fusion positioning module as reference information for fusion positioning. After receiving the confidence of the laser positioning information, the fusion positioning module can first decide whether to use the laser positioning information for fusion positioning according to the requirements of fusion positioning. For example, it can determine whether the confidence of the laser positioning information is greater than the confidence threshold. If it is greater than, it means that the laser positioning information has a certain reference value and can be used for fusion positioning with other positioning information. If the confidence threshold requirement is not met, it means that the current laser positioning information is not accurate enough. Forced fusion may cause a large deviation in the final positioning result. Therefore, the current laser positioning information can be discarded.

[0080] The present application also provides a laser odometer confidence optimization device 200, such as Figure 2 As shown, a schematic diagram of the structure of a confidence optimization device for a laser odometer in an embodiment of the present application is provided. The confidence optimization device 200 for the laser odometer at least includes: a first acquisition unit 210, a first determination unit 220, and a second determination unit 230, wherein:

[0081] A first acquisition unit 210 is used to acquire laser positioning information output by a laser odometer and satellite positioning information output by a satellite positioning device, wherein the laser positioning information includes a matching score corresponding to the laser positioning information;

[0082] A first determining unit 220, configured to determine a current estimated distance of the laser odometer according to satellite positioning information;

[0083] The second determination unit 230 is used to determine the current confidence level corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information.

[0084] In some embodiments of the present application, the first acquisition unit 210 is specifically used to: determine the positioning state of the satellite positioning information; and when the positioning state of the satellite positioning information is normal, acquire the satellite positioning information output by the satellite positioning device.

[0085] In some embodiments of the present application, the satellite positioning information is the satellite positioning information corresponding to the laser positioning information of the current frame, and the first determination unit 220 is specifically used to: obtain the satellite positioning information corresponding to the laser positioning information of the first frame; determine the current estimated distance of the laser odometer based on the satellite positioning information corresponding to the laser positioning information of the first frame and the satellite positioning information corresponding to the laser positioning information of the current frame.

[0086] In some embodiments of the present application, the second determination unit 230 is specifically used to: calculate the first confidence of the laser odometry based on the current estimated distance of the laser odometry; calculate the second confidence of the laser odometry based on the matching score corresponding to the laser positioning information; calculate the current confidence corresponding to the laser positioning information based on the first confidence and second confidence of the laser odometry.

[0087] In some embodiments of the present application, the second determination unit 230 is specifically used to: determine whether the current estimated distance is greater than a preset distance threshold; if so, set the first confidence level to 0; otherwise, calculate the first confidence level of the laser odometer based on the current estimated distance of the laser odometer.

[0088] In some embodiments of the present application, the second determination unit 230 is specifically used to: perform weighted fusion on the first confidence level and the second confidence level of the laser odometer to obtain a current confidence level corresponding to the laser positioning information.

[0089] In some embodiments of the present application, the confidence optimization device of the laser odometer also includes: a third determination unit, which is used to determine whether the current confidence corresponding to the laser positioning information is greater than a preset confidence threshold after determining the current confidence corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information; a fusion positioning unit, which is used to, if so, perform fusion positioning based on the satellite positioning information, the laser positioning information and the current confidence corresponding to the laser positioning information; otherwise, discard the laser positioning information.

[0090] It can be understood that the above-mentioned confidence optimization device of the laser odometer can implement the various steps of the confidence optimization method of the laser odometer provided in the aforementioned embodiment, and the relevant explanations on the confidence optimization method of the laser odometer are applicable to the confidence optimization device of the laser odometer, which will not be repeated here.

[0091] Figure 3 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present application. Figure 3 At the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. The memory may include a memory, such as a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. Of course, the electronic device may also include hardware required for other services.

[0092] The processor, network interface and memory can be interconnected through an internal bus, which can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 3 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0093] The memory is used to store the program. Specifically, the program may include a program code, and the program code includes a computer operation instruction. The memory may include a memory and a non-volatile memory, and provides instructions and data to the processor.

[0094] The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a confidence optimization device for the laser odometer at the logical level. The processor executes the program stored in the memory and is specifically used to perform the following operations:

[0095] Acquire laser positioning information output by a laser odometer and satellite positioning information output by a satellite positioning device, wherein the laser positioning information includes a matching score corresponding to the laser positioning information;

[0096] Determining the current estimated distance of the laser odometer according to satellite positioning information;

[0097] The current confidence level corresponding to the laser positioning information is determined according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information.

[0098] The above application Figure 1The method performed by the confidence optimization device of the laser odometer disclosed in the illustrated embodiment can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiments of the present application can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0099] The present application also provides a computer-readable storage medium, which stores one or more programs, wherein the one or more programs include instructions, which, when executed by an electronic device including multiple application programs, enable the electronic device to execute Figure 1 The method performed by the confidence optimization device of the laser odometer in the embodiment shown is specifically used to perform:

[0100] Acquire laser positioning information output by a laser odometer and satellite positioning information output by a satellite positioning device, wherein the laser positioning information includes a matching score corresponding to the laser positioning information;

[0101] Determining the current estimated distance of the laser odometer according to satellite positioning information;

[0102] The current confidence level corresponding to the laser positioning information is determined according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information.

[0103] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0106] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0107] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0108] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0109] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0110] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0111] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0112] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A confidence optimization method for a laser odometer, wherein: The confidence optimization method of the laser odometer includes: Acquire laser positioning information output by a laser odometer and satellite positioning information output by a satellite positioning device, wherein the laser positioning information includes a matching score corresponding to the laser positioning information; Determining the current estimated distance of the laser odometer according to satellite positioning information; The current confidence level corresponding to the laser positioning information is determined according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information.

2. The confidence optimization method of the laser odometer according to claim 1, wherein: The step of obtaining the laser positioning information output by the laser odometer and the satellite positioning information output by the satellite positioning device includes: Determining a positioning status of the satellite positioning information; When the positioning state of the satellite positioning information is a normal state, the satellite positioning information output by the satellite positioning device is acquired.

3. The confidence optimization method of the laser odometer according to claim 1, wherein: The satellite positioning information is the satellite positioning information corresponding to the laser positioning information of the current frame, and the determining the current estimated distance of the laser odometer according to the satellite positioning information includes: Obtain satellite positioning information corresponding to the laser positioning information of the first frame; The current estimated distance of the laser odometer is determined according to the satellite positioning information corresponding to the laser positioning information of the first frame and the satellite positioning information corresponding to the laser positioning information of the current frame.

4. The confidence optimization method of the laser odometer according to claim 1, wherein: The determining the current confidence level corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information comprises: Calculating a first confidence level of the laser odometer according to a current estimated distance of the laser odometer; Calculating a second confidence level of the laser odometer according to the matching score corresponding to the laser positioning information; The current confidence level corresponding to the laser positioning information is calculated according to the first confidence level and the second confidence level of the laser odometer.

5. The confidence optimization method of the laser odometer according to claim 4, wherein: The step of calculating the first confidence of the laser odometer according to the current estimated distance of the laser odometer comprises: Determining whether the current estimated distance is greater than a preset distance threshold; If yes, then the first confidence level is set to 0; Otherwise, a first confidence level of the laser odometer is calculated according to the current estimated distance of the laser odometer.

6. The confidence optimization method of the laser odometer according to claim 1, wherein: Calculating the current confidence of the laser odometer according to the first confidence and the second confidence of the laser odometer comprises: The first confidence level and the second confidence level of the laser odometer are weightedly fused to obtain a current confidence level corresponding to the laser positioning information.

7. The confidence optimization method for a laser odometer according to any one of claims 1 to 6, wherein: After determining the current confidence corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information, the confidence optimization method of the laser odometer further includes: Determine whether the current confidence level corresponding to the laser positioning information is greater than a preset confidence threshold; If yes, performing fusion positioning according to the satellite positioning information, the laser positioning information and the current confidence level corresponding to the laser positioning information; Otherwise, the laser positioning information is discarded.

8. A confidence optimization device for a laser odometer, wherein: The confidence optimization device of the laser odometer comprises: A first acquisition unit is used to acquire laser positioning information output by the laser odometer and satellite positioning information output by the satellite positioning device, wherein the laser positioning information includes a matching score corresponding to the laser positioning information; A first determining unit, configured to determine a current estimated distance of the laser odometer according to satellite positioning information; The second determination unit is used to determine the current confidence corresponding to the laser positioning information according to the current estimated distance of the laser odometer and the matching score corresponding to the laser positioning information.

9. An electronic device, comprising: processor; as well as A memory arranged to store computer executable instructions, wherein when the executable instructions are executed, the processor executes the confidence optimization method for the laser odometer according to any one of claims 1 to 7.

10. A computer program product, comprising a computer program or instructions, wherein when the computer program or instructions are executed by a processor, the confidence optimization method of the laser odometer according to any one of claims 1 to 7 is implemented.

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