CN106407315B - 一种基于街景图像数据库的车辆自主定位方法 - Google Patents
一种基于街景图像数据库的车辆自主定位方法 Download PDFInfo
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- CN106407315B CN106407315B CN201610783688.4A CN201610783688A CN106407315B CN 106407315 B CN106407315 B CN 106407315B CN 201610783688 A CN201610783688 A CN 201610783688A CN 106407315 B CN106407315 B CN 106407315B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
- G06F16/583—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using metadata automatically derived from the content
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/40—Extraction of image or video features
- G06V10/46—Descriptors for shape, contour or point-related descriptors, e.g. scale invariant feature transform [SIFT] or bags of words [BoW]; Salient regional features
- G06V10/462—Salient features, e.g. scale invariant feature transforms [SIFT]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Data Mining & Analysis (AREA)
- Library & Information Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Artificial Intelligence (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Bioinformatics & Computational Biology (AREA)
- Databases & Information Systems (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- Image Analysis (AREA)
- Image Processing (AREA)
Abstract
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CN201610783688.4A CN106407315B (zh) | 2016-08-30 | 2016-08-30 | 一种基于街景图像数据库的车辆自主定位方法 |
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CN201610783688.4A CN106407315B (zh) | 2016-08-30 | 2016-08-30 | 一种基于街景图像数据库的车辆自主定位方法 |
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CN106407315A CN106407315A (zh) | 2017-02-15 |
CN106407315B true CN106407315B (zh) | 2019-08-16 |
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Families Citing this family (25)
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---|---|---|---|---|
CN106908040B (zh) * | 2017-03-06 | 2019-06-14 | 哈尔滨工程大学 | 一种基于surf算法的双目全景视觉机器人自主定位方法 |
CN107063238A (zh) * | 2017-05-17 | 2017-08-18 | 上海移为通信技术股份有限公司 | 基于云服务器的预估导航定位方法及*** |
CN107451593B (zh) * | 2017-07-07 | 2020-05-15 | 西安交通大学 | 一种基于图像特征点的高精度gps定位方法 |
US10579067B2 (en) | 2017-07-20 | 2020-03-03 | Huawei Technologies Co., Ltd. | Method and system for vehicle localization |
CN108804486A (zh) * | 2017-09-01 | 2018-11-13 | 北京视联动力国际信息技术有限公司 | 一种图像识别方法和装置 |
CN109146936B (zh) * | 2018-07-17 | 2021-04-27 | 湖南云顶智能科技有限公司 | 一种图像匹配方法、装置、定位方法及*** |
CN109166140B (zh) * | 2018-07-27 | 2021-10-01 | 长安大学 | 一种基于多线激光雷达的车辆运动轨迹估计方法及*** |
CN111027346A (zh) * | 2018-10-09 | 2020-04-17 | 上海适宇智能科技有限公司 | 一种基于路面特征的车辆定位方法及在视觉定位中应用 |
CN109520500B (zh) * | 2018-10-19 | 2020-10-20 | 南京航空航天大学 | 一种基于终端拍摄图像匹配的精确定位及街景库采集方法 |
CN111352139B (zh) * | 2018-12-24 | 2022-04-08 | 同方威视技术股份有限公司 | 扫描设备自主导向方法、装置和扫描设备 |
CN109711363B (zh) * | 2018-12-29 | 2021-02-19 | 百度在线网络技术(北京)有限公司 | 车辆定位方法、装置、设备和存储介质 |
CN109920266A (zh) * | 2019-02-20 | 2019-06-21 | 武汉理工大学 | 一种智能车辆定位方法 |
CN110070579A (zh) * | 2019-03-16 | 2019-07-30 | 平安科技(深圳)有限公司 | 基于图像检测的定位方法、装置、设备和存储介质 |
CN109883433B (zh) * | 2019-03-21 | 2023-07-18 | 中国科学技术大学 | 基于360度全景视图的结构化环境中车辆定位方法 |
CN109931945B (zh) * | 2019-04-02 | 2021-07-06 | 百度在线网络技术(北京)有限公司 | Ar导航方法、装置、设备和存储介质 |
CN111860050B (zh) * | 2019-04-27 | 2024-07-02 | 北京初速度科技有限公司 | 一种基于图像帧的回环检测方法及装置、车载终端 |
CN110307855B (zh) * | 2019-05-20 | 2020-04-24 | 特斯联(北京)科技有限公司 | 一种野外景区自助导航***及其站点设备 |
CN112116654B (zh) * | 2019-06-20 | 2024-06-07 | 杭州海康威视数字技术股份有限公司 | 一种车辆位姿确定方法、装置及电子设备 |
CN110472092B (zh) * | 2019-07-15 | 2021-11-16 | 清华大学 | 一种街景图片的地理定位方法及*** |
CN110660103B (zh) * | 2019-09-17 | 2020-12-25 | 北京三快在线科技有限公司 | 一种无人车定位方法及装置 |
CN111722245B (zh) | 2020-06-22 | 2023-03-10 | 阿波罗智能技术(北京)有限公司 | 定位方法、定位装置和电子设备 |
CN113884094A (zh) * | 2020-07-03 | 2022-01-04 | 阿里巴巴集团控股有限公司 | 导航路径的确认方法、装置、服务器、终端及*** |
CN111858979B (zh) * | 2020-07-23 | 2021-12-14 | 北京京东乾石科技有限公司 | 障碍物识别方法和装置、电子设备和自动驾驶车辆 |
CN112528972B (zh) * | 2021-02-08 | 2021-06-04 | 常州微亿智造科技有限公司 | 用于飞拍拍摄点的定位方法和装置 |
CN115018867A (zh) * | 2022-05-17 | 2022-09-06 | 苏州光格科技股份有限公司 | 电缆隧道定位方法、装置、计算机设备、存储介质 |
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CN103234537A (zh) * | 2013-01-24 | 2013-08-07 | 上海市上海中学 | 一种仓库自动导航机械车定位方法 |
CN103473775A (zh) * | 2013-09-16 | 2013-12-25 | 中国人民解放军国防科学技术大学 | Sar图像车辆目标的快速检测与定位方法 |
CN103473774A (zh) * | 2013-09-09 | 2013-12-25 | 长安大学 | 一种基于路面图像特征匹配的车辆定位方法 |
CN103499350A (zh) * | 2013-09-28 | 2014-01-08 | 长安大学 | Gps盲区下融合多源信息的车辆高精度定位方法及装置 |
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CN103234537A (zh) * | 2013-01-24 | 2013-08-07 | 上海市上海中学 | 一种仓库自动导航机械车定位方法 |
CN103473774A (zh) * | 2013-09-09 | 2013-12-25 | 长安大学 | 一种基于路面图像特征匹配的车辆定位方法 |
CN103473775A (zh) * | 2013-09-16 | 2013-12-25 | 中国人民解放军国防科学技术大学 | Sar图像车辆目标的快速检测与定位方法 |
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Inventor after: Zhao Xiangmo Inventor after: Sun Pengpeng Inventor after: Zhou Jingmei Inventor after: Cheng Xin Inventor after: Xu Zhigang Inventor after: Zhang Licheng Inventor after: Wang Runmin Inventor after: Min Haigen Inventor after: Li Xiaochi Inventor after: Wang Zhen Inventor before: Zhao Xiangmo Inventor before: Sun Pengpeng Inventor before: Zhou Jingmei Inventor before: Xu Zhigang Inventor before: Cheng Xin Inventor before: Zhang Licheng Inventor before: Wang Runmin Inventor before: Min Haigen Inventor before: Li Xiaochi Inventor before: Wang Zhen |
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