The invention discloses an intelligent vehicle searching
system and method without a high-precision map based on multi-
modal perception, and relates to the field of intelligent traffic and
computer vision, and the
system comprises a
data acquisition module, an index construction module, a positioning
verification module, a sequence recording module and a matching navigation module. According to the method, on the basis of feature
point cloud construction and lightweight semantic recognition of ORB-SLAM3, instant modeling of the
local environment of the
parking lot is realized, and the
system construction and maintenance cost is remarkably reduced. Multi-
sensor fusion is adopted to form a three-layer positioning
verification system, a conflict resolution mechanism is set, and supplementary
visual angle acquisition is triggered through secondary identification, so that the positioning precision is improved, and the problems of insufficient precision and error accumulation of a single sensor are effectively solved. The visual
semantic feature sequence from the
parking space to the exit is automatically recorded after parking is completed, reverse indexing and matching are carried out in the vehicle searching stage, the
visual navigation path is generated in combination with AR and voice prompt, and user-level high-robustness vehicle searching experience can be achieved without a coordinate map.