Autonomous Vehicle Pose Fusion for Robust Visual Positioning
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Solution Overview
Problem
Existing positioning methods for autonomous driving vehicles, relying on cameras, suffer from low accuracy due to camera vibrations and environmental interference, leading to inaccurate position and posture estimation.
Innovation Solution
The method combines pose information from inertial measurement units and wheel tachometers with adjacent frame images to generate accurate positioning information, reducing external environmental interference and improving reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If positioning is performed using only camera-based visual odometer, then device complexity is reduced, but measurement precision deteriorates due to camera vibration and environmental interference
Solution Approach 1:
The patent combines multiple positioning methods (visual odometer, inertial navigation, wheel tachometer) into a unified positioning system. The visual odometer provides position estimation, inertial navigation compensates for camera vibration through IMU data, and wheel tachometer provides speed verification. This merging of multiple sensing modalities resolves the contradiction by maintaining system complexity at an acceptable level while significantly improving measurement precision through data fusion.
2Ease of operation
If camera-based visual odometer is used for positioning, then ease of operation is improved, but reliability deteriorates due to susceptibility to external environmental interference
Solution Approach 1:
The patent introduces inertial measurement units and wheel tachometers as intermediary sensors that are less susceptible to environmental interference. These intermediaries provide alternative measurement channels (acceleration, angular velocity, wheel speed) that can verify and correct camera-based positioning results, thereby improving reliability while maintaining ease of operation through automated multi-sensor fusion.
3Measurement precision
If multiple sensors (inertial measurement unit and wheel tachometer) are combined with camera, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent designs a positioning system where each sensor serves multiple functions: the camera provides primary position estimation and visual feedback, the inertial measurement unit provides both position correction and motion state verification, and the wheel tachometer provides speed measurement and positioning verification. This multi-functionality approach allows the system to achieve high measurement precision while managing device complexity by maximizing the utility of each sensor component.
Data Source
AI summary
Embodiments of the present application disclose a positioning method and apparatus, an autonomous driving vehicle, an electronic device and a storage medium, relating to the field of autonomous driving technologies, comprising: collecting first pose information measured by an inertial measurement unit within a preset time period, and collecting second pose information measured by a wheel tachometer within the time period; generating positioning information according to the first pose information, the second pose information and the adjacent frame images; controlling driving of the autonomous driving vehicle according to the positioning information. The positioning information is estimated by combining the first pose information and the second pose information corresponding to the inertial measurement unit and the wheel tachometer respectively. Compared with the camera, the inertial measurement unit and the wheel tachometer are not prone to be interfered by the external environment.