Method and apparatus for positioning vehicle
First Claim
1. A method for positioning a vehicle, the method comprising:
- obtaining laser point cloud data of a laser point cloud collected by a laser radar on a vehicle, and obtaining an initial pose of a center point of the laser radar, the laser point cloud data comprising coordinates of laser points under a coordinate of the laser radar, and the initial pose comprising an initial plane position and an initial yaw angle of the center point of the laser radar in a world coordinate system;
calculating a matching probability between projection data corresponding to each sampling pose and map data of a reflected value map respectively, the sampling pose comprising a sampling plane position in a preset range of the initial plane position, and a sampling yaw angle in a preset range of the initial yaw angle, the projection data comprising a mean value and a variance of reflected values or heights of laser points in the collected laser point cloud based on projecting the sampling pose into a cell of the reflected value map and the map data comprising a preset mean value and a preset variance of the reflected values or heights corresponding to the cell; and
calculating an optimal pose based on the matching probability between the projection data corresponding to the each sampling pose and the map data of the reflected value map, and determining a position of the vehicle based on the optimal pose, the optimal pose comprising an optimal plane position and an optimal yaw angle of the center point of the laser radar in the world coordinate system,wherein the method is performed by one or more processors.
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Abstract
The present application discloses a method and apparatus for positioning a vehicle. An implementation of the method comprises: obtaining laser point cloud data of a laser point cloud collected by a laser radar on a vehicle, and obtaining an initial pose of a center point of the laser radar; calculating a matching probability between projection data corresponding to each sampling pose and map data of a reflected value map respectively; and calculating an optimal pose based on the matching probability between the projection data corresponding to the each sampling pose and the map data of the reflected value map, and determining a position of the vehicle based on the optimal pose.
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Citations
9 Claims
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1. A method for positioning a vehicle, the method comprising:
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obtaining laser point cloud data of a laser point cloud collected by a laser radar on a vehicle, and obtaining an initial pose of a center point of the laser radar, the laser point cloud data comprising coordinates of laser points under a coordinate of the laser radar, and the initial pose comprising an initial plane position and an initial yaw angle of the center point of the laser radar in a world coordinate system; calculating a matching probability between projection data corresponding to each sampling pose and map data of a reflected value map respectively, the sampling pose comprising a sampling plane position in a preset range of the initial plane position, and a sampling yaw angle in a preset range of the initial yaw angle, the projection data comprising a mean value and a variance of reflected values or heights of laser points in the collected laser point cloud based on projecting the sampling pose into a cell of the reflected value map and the map data comprising a preset mean value and a preset variance of the reflected values or heights corresponding to the cell; and calculating an optimal pose based on the matching probability between the projection data corresponding to the each sampling pose and the map data of the reflected value map, and determining a position of the vehicle based on the optimal pose, the optimal pose comprising an optimal plane position and an optimal yaw angle of the center point of the laser radar in the world coordinate system, wherein the method is performed by one or more processors. - View Dependent Claims (2, 3, 4, 5)
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6. An apparatus for positioning a vehicle, the apparatus comprising:
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at least one processor; and a memory storing instructions, which when executed by the at least one processor, cause the at least one processor to perform operations, the operations comprising; obtaining laser point cloud data of a laser point cloud collected by a laser radar on a vehicle, and obtaining an initial pose of a center point of the laser radar, the laser point cloud data comprising coordinates of laser points under a coordinate of the laser radar, and the initial pose comprising an initial plane position and an initial yaw angle of the center point of the laser radar in a world coordinate system; calculating a matching probability between projection data corresponding to each sampling pose and map data of a reflected value map respectively, the sampling pose comprising a sampling plane position in a preset range of the initial plane position, and a sampling yaw angle in a preset range of the initial yaw angle, the projection data comprising a mean value and a variance of reflected values or heights of laser points in the collected laser point cloud based on projecting the sampling pose into a cell of the reflected value map and the map data comprising a preset mean value and a preset variance of the reflected values or heights corresponding to the cell; and calculating an optimal pose based on the matching probability between the projection data corresponding to the each sampling pose and the map data of the reflected value map, and determining a position of the vehicle based on the optimal pose. - View Dependent Claims (7, 8)
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9. A non-transitory computer storage medium storing a computer program, which when executed by one or more processors, causes the one or more processors to perform operations, the operations comprising:
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obtaining laser point cloud data of a laser point cloud collected by a laser radar on a vehicle, and obtaining an initial pose of a center point of the laser radar, the laser point cloud data comprising coordinates of laser points under a coordinate of the laser radar, and the initial pose comprising an initial plane position and an initial yaw angle of the center point of the laser radar in a world coordinate system; calculating a matching probability between projection data corresponding to each sampling pose and map data of a reflected value map respectively, the sampling pose comprising a sampling plane position in a preset range of the initial plane position, and a sampling yaw angle in a preset range of the initial yaw angle, the projection data comprising a mean value and a variance of reflected values or heights of laser points in the collected laser point cloud based on projecting the sampling pose into a cell of the reflected value map and the map data comprising a preset mean value and a preset variance of the reflected values or heights corresponding to the cell; and calculating an optimal pose based on the matching probability between the projection data corresponding to the each sampling pose and the map data of the reflected value map, and determining a position of the vehicle based on the optimal pose, the optimal pose comprising an optimal plane position and an optimal yaw angle of the center point of the laser radar in the world coordinate system.
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Specification