Mobile Device Positioning via HD Map Point Cloud Projection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current laser radar positioning technology is costly and its accuracy is affected by environmental conditions such as illumination, seasons, and dynamic objects, while vision camera technology lacks depth information, resulting in lower positioning accuracy.
Innovation Solution
A positioning method and apparatus for mobile devices using vision camera technology, which determines a mobile device's position and orientation by capturing frame images, identifying straight lines in the images, and converting point cloud data from high-definition maps into pixel plane-coordinate systems to calculate distances to these lines, thereby reducing the reliance on real-time laser radar reflections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If laser radar positioning technology is used, then positioning accuracy is improved, but cost increases
Solution Approach 1:
The patent uses vision camera data to create a virtual copy of the laser radar positioning function. By projecting point cloud data onto image planes and comparing with detected straight lines, the system replicates positioning capabilities without requiring actual laser radar hardware, thereby reducing cost while maintaining accuracy
Solution Approach 2:
The patent replaces the mechanical laser radar system with an optical vision-based system. Instead of using laser beams to measure distances directly, the system uses camera images combined with point cloud processing and geometric calculations to achieve positioning, substituting a complex mechanical sensing system with a more affordable optical approach
2Measurement precision
If laser radar positioning technology is used, then positioning accuracy is improved, but reliability under environmental conditions deteriorates
Solution Approach 1:
The patent introduces point cloud data as an intermediary between the vision camera and the positioning result. The point cloud serves as a bridge that connects image features with spatial information, allowing the system to calculate positioning without direct laser radar measurements, thereby improving reliability in varying environmental conditions
Solution Approach 2:
The patent transforms the positioning problem from direct distance measurement in 3D space to a 2D image plane analysis problem. By converting point cloud data to image coordinate systems and comparing with straight line detections in the image plane, the system solves positioning through dimensional transformation, reducing sensitivity to environmental factors
3Ease of manufacture
If vision camera technology is used, then cost is reduced, but positioning accuracy deteriorates due to lack of depth information
Solution Approach 1:
The patent merges multiple data sources including vision camera images, point cloud data, and high-definition map information to compensate for the lack of depth information in monocular vision. By combining these complementary data types through coordinate transformations and geometric relationships, the system achieves accurate positioning using only vision camera hardware
Data Source
AI summary
A positioning method of a mobile device includes: determining a first position and orientation parameter of a mobile device when a current frame image is captured, and determining a straight line corresponding to a preset sign in the current frame image; determining a plurality of second position and orientation parameters based on the first position and orientation parameter; determining, in a high-definition map, point cloud data within a preset range of a geographic location when the current frame image is captured; converting the point cloud data within the preset range into a pixel plane-coordinate system to obtain a plurality of second image coordinate sets; determining, based on distances from image coordinates in the plurality of second image coordinate sets to the straight line, a position and orientation parameter of the mobile device when the current frame image is captured among the plurality of second position and orientation parameters.