CN107246876B - 一种无人驾驶汽车自主定位与地图构建的方法及*** - Google Patents
一种无人驾驶汽车自主定位与地图构建的方法及*** Download PDFInfo
- Publication number
- CN107246876B CN107246876B CN201710645663.2A CN201710645663A CN107246876B CN 107246876 B CN107246876 B CN 107246876B CN 201710645663 A CN201710645663 A CN 201710645663A CN 107246876 B CN107246876 B CN 107246876B
- Authority
- CN
- China
- Prior art keywords
- data
- coordinate system
- time
- laser radar
- unmanned
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- 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
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710645663.2A CN107246876B (zh) | 2017-07-31 | 2017-07-31 | 一种无人驾驶汽车自主定位与地图构建的方法及*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710645663.2A CN107246876B (zh) | 2017-07-31 | 2017-07-31 | 一种无人驾驶汽车自主定位与地图构建的方法及*** |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107246876A CN107246876A (zh) | 2017-10-13 |
CN107246876B true CN107246876B (zh) | 2020-07-07 |
Family
ID=60013478
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710645663.2A Expired - Fee Related CN107246876B (zh) | 2017-07-31 | 2017-07-31 | 一种无人驾驶汽车自主定位与地图构建的方法及*** |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107246876B (zh) |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108253962A (zh) * | 2017-12-18 | 2018-07-06 | 中北智杰科技(北京)有限公司 | 一种低照度环境下新能源无人驾驶汽车定位方法 |
CN108088456B (zh) * | 2017-12-21 | 2021-07-16 | 北京工业大学 | 一种具有时间一致性的无人驾驶车辆局部路径规划方法 |
JP7032440B2 (ja) * | 2018-02-02 | 2022-03-08 | 達闥機器人有限公司 | 測位方法、装置、ロボット及びコンピューター読み取り可能な記憶媒体 |
CN110832275B (zh) | 2018-06-14 | 2021-05-18 | 北京嘀嘀无限科技发展有限公司 | 基于双目图像更新高分辨率地图的***和方法 |
CN110657801B (zh) * | 2018-06-29 | 2022-02-08 | 阿里巴巴(中国)有限公司 | 定位方法、装置以及电子设备 |
CN109084786B (zh) * | 2018-08-09 | 2020-12-25 | 北京智行者科技有限公司 | 一种地图数据的处理方法 |
CN109633725B (zh) * | 2018-10-31 | 2021-03-30 | 百度在线网络技术(北京)有限公司 | 定位初始化的处理方法、装置及可读存储介质 |
CN111319612B (zh) * | 2018-12-13 | 2021-09-28 | 北京初速度科技有限公司 | 一种自动驾驶车辆用地图的自建图方法和*** |
CN109752724A (zh) * | 2018-12-26 | 2019-05-14 | 珠海市众创芯慧科技有限公司 | 一种图像激光一体式导航定位*** |
WO2020133415A1 (en) * | 2018-12-29 | 2020-07-02 | Beijing Didi Infinity Technology And Development Co., Ltd. | Systems and methods for constructing a high-definition map based on landmarks |
CN109443351B (zh) * | 2019-01-02 | 2020-08-11 | 亿嘉和科技股份有限公司 | 一种稀疏环境下的机器人三维激光定位方法 |
WO2021007716A1 (en) * | 2019-07-12 | 2021-01-21 | Beijing Voyager Technology Co., Ltd. | Systems and methods for positioning |
CN110587597B (zh) * | 2019-08-01 | 2020-09-22 | 深圳市银星智能科技股份有限公司 | 一种基于激光雷达的slam闭环检测方法及检测*** |
CN110726409B (zh) * | 2019-09-09 | 2021-06-22 | 杭州电子科技大学 | 一种基于激光slam和视觉slam地图融合方法 |
CN111044040A (zh) * | 2019-12-30 | 2020-04-21 | 哈尔滨工业大学 | 一种用于无人驾驶设备的全地形多传感器数据采集平台 |
CN111258313B (zh) * | 2020-01-20 | 2022-06-07 | 深圳市普渡科技有限公司 | 多传感器融合slam***及机器人 |
CN111505662B (zh) * | 2020-04-29 | 2021-03-23 | 北京理工大学 | 一种无人驾驶车辆定位方法及*** |
CN111561923B (zh) * | 2020-05-19 | 2022-04-15 | 北京数字绿土科技股份有限公司 | 基于多传感器融合的slam制图方法、*** |
CN112083726B (zh) * | 2020-09-04 | 2021-11-23 | 湖南大学 | 一种面向园区自动驾驶的双滤波器融合定位*** |
CN114001729B (zh) * | 2021-11-16 | 2024-04-26 | 苏州挚途科技有限公司 | 定位方法、装置及电子设备 |
CN117351140B (zh) * | 2023-09-15 | 2024-04-05 | 中国科学院自动化研究所 | 融合全景相机和激光雷达的三维重建方法、装置及设备 |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8473144B1 (en) * | 2012-10-30 | 2013-06-25 | Google Inc. | Controlling vehicle lateral lane positioning |
CN203133590U (zh) * | 2013-03-14 | 2013-08-14 | 武汉大学 | 一种车载同步控制器 |
CN104777835A (zh) * | 2015-03-11 | 2015-07-15 | 武汉汉迪机器人科技有限公司 | 一种全向自动叉车及3d立体视觉导航定位方法 |
CN204757984U (zh) * | 2015-04-13 | 2015-11-11 | 武汉海达数云技术有限公司 | 一体化移动三维测量*** |
CN105856230B (zh) * | 2016-05-06 | 2017-11-24 | 简燕梅 | 一种可提高机器人位姿一致性的orb关键帧闭环检测slam方法 |
CN106272423A (zh) * | 2016-08-31 | 2017-01-04 | 哈尔滨工业大学深圳研究生院 | 一种针对大尺度环境的多机器人协同制图与定位的方法 |
-
2017
- 2017-07-31 CN CN201710645663.2A patent/CN107246876B/zh not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
CN107246876A (zh) | 2017-10-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107246876B (zh) | 一种无人驾驶汽车自主定位与地图构建的方法及*** | |
Kabzan et al. | AMZ driverless: The full autonomous racing system | |
CN113168708B (zh) | 车道线跟踪方法和装置 | |
CN113819914B (zh) | 一种地图构建方法及装置 | |
JP2022019642A (ja) | マルチセンサ融合に基づく測位方法及び装置 | |
CN112639882B (zh) | 定位方法、装置及*** | |
JP2022016419A (ja) | 軌跡予測方法及び装置 | |
CN111860493A (zh) | 一种基于点云数据的目标检测方法及装置 | |
CN113819905B (zh) | 一种基于多传感器融合的里程计方法及装置 | |
CN110901656A (zh) | 用于自动驾驶车辆控制的实验设计方法和*** | |
CN113252051A (zh) | 一种地图构建方法及装置 | |
CN115457074A (zh) | 用于对象检测和跟踪的神经网络 | |
Jun et al. | Autonomous driving system design for formula student driverless racecar | |
CN113920198A (zh) | 一种基于语义边缘对齐的由粗到精的多传感器融合定位方法 | |
CN111708010B (zh) | 一种可移动设备的定位方法、装置、***及可移动设备 | |
CN117795378A (zh) | 用于粒子滤波器跟踪的***和方法 | |
CN117075158A (zh) | 基于激光雷达的无人变形运动平台的位姿估计方法及*** | |
US20230123184A1 (en) | Systems and methods for producing amodal cuboids | |
EP4148599A1 (en) | Systems and methods for providing and using confidence estimations for semantic labeling | |
US11809524B2 (en) | System and method for training an adapter network to improve transferability to real-world datasets | |
CN112747752B (zh) | 基于激光里程计的车辆定位方法、装置、设备和存储介质 | |
Yildiz et al. | CNN based sensor fusion method for real-time autonomous robotics systems | |
US11443147B2 (en) | Systems and methods for object detection using stereovision information | |
Tian et al. | Autonomous formula racecar: Overall system design and experimental validation | |
CN113066124A (zh) | 一种神经网络的训练方法以及相关设备 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180629 Address after: 221000 Tengfei Road, Xuzhou Quanshan Development Zone, Xuzhou, Jiangsu 6 - 63 Applicant after: ZHONGBEI RUNLIANG NEW ENERGY AUTOMOBILE (XUZHOU) Co.,Ltd. Address before: 100000 Beijing Dongcheng District Youth Lake North Li 5 Sheng Yuanxiang River Hotel 3 floor 316 rooms. Applicant before: ZHONGBEI ZHIJIE TECHNOLOGY (BEIJING) CO.,LTD. |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210224 Address after: 235000 south area of bid section B of standardized plant in New Area of Huaibei Economic Development Zone, Anhui Province Patentee after: Zhongbei lithium energy (Huaibei) Technology Co.,Ltd. Address before: 221000 no.6-63, Tengfei Road, Quanzhou Development Zone, Xuzhou City, Jiangsu Province Patentee before: ZHONGBEI RUNLIANG NEW ENERGY AUTOMOBILE (XUZHOU) Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200707 Termination date: 20210731 |
|
CF01 | Termination of patent right due to non-payment of annual fee |