WO2020042349A1 - Positioning initialization method applied to vehicle positioning and vehicle-mounted terminal - Google Patents
Positioning initialization method applied to vehicle positioning and vehicle-mounted terminal Download PDFInfo
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- WO2020042349A1 WO2020042349A1 PCT/CN2018/113669 CN2018113669W WO2020042349A1 WO 2020042349 A1 WO2020042349 A1 WO 2020042349A1 CN 2018113669 W CN2018113669 W CN 2018113669W WO 2020042349 A1 WO2020042349 A1 WO 2020042349A1
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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
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
Definitions
- the invention relates to the technical field of automatic driving, in particular to a positioning initialization method and a vehicle-mounted terminal applied to vehicle positioning.
- the operation of vehicle positioning initialization needs to be performed, that is, determining the initial position of the vehicle in the electronic driving navigation electronic map.
- the initial position can be obtained based on prior information of a position such as a Global Satellite Positioning System (GPS) signal.
- GPS Global Satellite Positioning System
- the embodiment of the invention discloses a positioning initialization method and a vehicle-mounted terminal applied to vehicle positioning, which can implement vehicle positioning initialization when a priori information such as GPS signals is missing.
- the first aspect of the embodiments of the present invention discloses a positioning initialization method applied to vehicle positioning, the method includes:
- the local map Matching the local map with a pre-built global map to obtain the position of the local map in the global map; wherein, as the vehicle travels, the range of the local map gradually increases.
- the range of the local map is increased to be able to match from the global map to the only area that is the same as the local map, the local map is determined to be in the global map according to the position of the area in the global map s position;
- constructing a surrounding environment of the vehicle by using a target image captured by an image acquisition device to obtain a local map includes:
- the multiple image acquisition devices include image acquisition devices installed in the front, rear, left, and right directions of the vehicle, each The framing range of the image acquisition device includes at least the ground below the image acquisition device;
- matching the local map with a pre-built global map to obtain a position of the local map in the global map includes :
- Detecting a specific feature in the local map where the specific feature is a semantic feature of the image whose appearance probability in the local map is lower than the non-specific feature;
- the method before the using the target image captured by the image acquisition device to construct the surrounding environment of the vehicle to obtain a local map, the method also includes:
- the positioning end position is recorded, determining the positioning end position as an initial position of the vehicle in the global map;
- the target image captured by the image acquisition device is used to construct the surrounding environment of the vehicle to obtain a local map.
- the method before the using the target image captured by the image acquisition device to construct the surrounding environment of the vehicle to obtain a local map, the method also includes:
- the satellite positioning signal is not received, executing the target image captured by the image acquisition device to construct the surrounding environment of the vehicle to obtain a local map.
- a second aspect of the embodiments of the present invention discloses a vehicle-mounted terminal, including:
- a construction unit configured to construct a surrounding environment of the vehicle by using a target image captured by an image acquisition device to obtain a local map
- a matching unit configured to match the local map with a pre-built global map to obtain a position of the local map in the global map; wherein, as the vehicle travels, the range of the local map gradually increases Large, when the range of the local map is increased to be able to match from the global map to the only area that is the same as the local map, determining the location of the local map based on the location of the area in the global map A position in the global map;
- a first determining unit configured to map a position of the vehicle in the local map to the global map based on a position of the local map in the global map to obtain the vehicle in the global map The initial position in the map.
- the construction unit includes:
- An acquisition subunit configured to acquire multiple target images captured by multiple image acquisition devices at the same moment;
- the multiple image acquisition devices include image acquisitions respectively installed in front, rear, left, and right directions of the vehicle Device, the framing range of each said image acquisition device includes at least the ground below the image acquisition device;
- a construction subunit is used for identifying the image semantic feature in the top-view mosaic image, and constructing a local map based on the image semantic feature.
- the matching unit includes:
- a detection subunit configured to detect a specific feature in the local map, where the specific feature is a semantic feature of the image whose appearance probability in the local map is lower than the non-specific feature;
- a determining subunit configured to determine a position of the local map in the global map according to a position of the target feature in the global map.
- the vehicle-mounted terminal further includes:
- a first determining unit is configured to determine whether the positioning end position at the end of the last positioning calculation is recorded before the construction unit uses the target image captured by the image acquisition device to construct the surrounding environment of the vehicle to obtain a local map.
- the last positioning calculation is a previous positioning calculation that occurred before the vehicle was started;
- a second determining unit configured to determine the end position of the positioning as the initial position of the vehicle in the global map when the first determination unit determines that it is recorded to the positioning end position;
- the construction unit is specifically configured to use the target image captured by the image acquisition device to construct the surrounding environment of the vehicle when the first determination unit determines that the positioning end position is not recorded, to obtain a local map .
- the specific feature includes a zebra crossing, a lane arrow, and a storage location.
- a third aspect of the embodiments of the present invention discloses a vehicle-mounted terminal, including:
- a processor coupled to the memory
- the processor calls the executable program code stored in the memory to execute any method disclosed in the first aspect of the embodiments of the present invention.
- a fourth aspect of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes a computer to execute any one of the methods disclosed in the first aspect of the embodiments of the present invention.
- a fifth aspect of the embodiments of the present invention discloses a computer program product, and when the computer program product runs on a computer, the computer is caused to execute any method disclosed in the first aspect of the embodiments of the present invention.
- the initial position of the vehicle in the global map can be determined by using the image data captured by the image acquisition device when the prior information of the position such as the GPS signal is missing, thereby completing the initialization of the vehicle positioning.
- top-view mosaic as the input object of the neural network to extract the semantic features is more accurate than the traditional map matching using the forward graph or forward side graph or ring view, so that the positioning is accurate.
- stitching the target images first, and then extracting the semantic features of the images from the top-view mosaic can also improve the extraction efficiency of the semantic features of the images.
- FIG. 1 is a schematic flowchart of a positioning initialization method applied to vehicle positioning disclosed in an embodiment of the present invention
- FIG. 2 is a schematic flowchart of another positioning initialization method applied to vehicle positioning disclosed in an embodiment of the present invention
- FIG. 3 is an exemplary diagram of a partial map of a parking lot constructed by a vehicle terminal disclosed in an embodiment of the present invention
- FIG. 4 is another exemplary partial map of a parking lot constructed by a vehicle terminal disclosed in an embodiment of the present invention.
- FIG. 5 is a schematic structural diagram of a vehicle-mounted terminal disclosed in an embodiment of the present invention.
- FIG. 6 is a schematic structural diagram of another vehicle-mounted terminal disclosed by an embodiment of the present invention.
- FIG. 7 is a schematic structural diagram of another vehicle-mounted terminal disclosed by an embodiment of the present invention.
- FIG. 8 is a schematic structural diagram of another vehicle-mounted terminal disclosed in an embodiment of the present invention.
- the embodiment of the invention discloses a positioning initialization method and a vehicle-mounted terminal applied to vehicle positioning, which can implement vehicle positioning initialization when a priori information such as GPS signals is missing. Each of them will be described in detail below.
- FIG. 1 is a schematic flowchart of a positioning initialization method applied to vehicle positioning according to an embodiment of the present invention.
- the method is applied to a vehicle-mounted computer, a vehicle-mounted industrial control computer (Industrial Personal Computer, IPC) and other vehicle-mounted terminals, which are not limited in the embodiment of the present invention.
- the above-mentioned vehicle-mounted terminal is connected to each sensor of the vehicle, and receives and processes data collected by each sensor.
- the positioning initialization method applied to vehicle positioning may include the following steps:
- a vehicle-mounted terminal uses a target image captured by an image acquisition device to construct a surrounding environment of a vehicle to obtain a local map.
- the image acquisition device may be a camera.
- the camera in the following refers to the image acquisition device.
- the camera is installed on the vehicle and is used to capture the surrounding environment of the vehicle.
- the vehicle terminal can use local positioning and map construction (Simultaneous Localization and Mapping) technology to build a local map using the target image captured by the camera.
- the local map is used for Describe the surroundings of the vehicle.
- the vehicle-mounted terminal can identify feature points in the target image and use these feature points to build a map. That is to say, for a vehicle-mounted terminal, when the vehicle is in an unknown position in an unknown environment, the vehicle-mounted terminal can use the images captured by the camera to gradually draw a local map of the vehicle's path environment while the vehicle is continuously traveling.
- cameras can be installed in the front, rear, left, and right directions of the vehicle, and the framing range of each camera includes at least the ground below the camera.
- the foregoing camera may be a fish-eye camera, and a field of view (FOV) of the fish-eye camera is relatively large, so that the target image captured by a single fish-eye camera includes as much of the periphery of the vehicle as possible. Environment, improve the integrity of the local map, and increase the amount of information contained in the local map.
- FOV field of view
- the vehicle-mounted terminal matches the local map with a pre-built global map to obtain the position of the local map in the global map.
- the global map is an electronic map for autonomous driving navigation, and is a digital description of the real geographic environment. Compared with the local map constructed by the vehicle terminal in step 101, the global map has a larger range.
- the global map may be a map of the entire parking lot
- the local map may be a map including the route of the vehicle in the parking lot and the surrounding environment of the route. It can be seen that for the same geographical environment, the local map is part of the global map. Some features in the local map are the same as those in the global map. By looking for these same features, you can match the local map with the local map. In the same area, the location of the area is the position of the local map in the global map.
- the local map may be a map composed of gradually accumulated map fragments. Due to the similarity of features, when the range of the local map is small, there may be multiple areas in the global map that are the same as the local map. At this time, it is difficult to determine the exact location of the local map in the global map. Therefore, the vehicle can continue to drive, and the in-vehicle terminal continuously acquires the target image captured by the vehicle during the driving process, adds the information of the target image to the original local map, and constructs a new local map, which is a process of gradual accumulation.
- the in-vehicle terminal maps the position of the vehicle in the local map to the global map based on the position of the local map in the global map to obtain the initial position of the vehicle in the global map.
- the in-vehicle terminal successfully matches the local map with the global map, it can be understood that the same area as the local map is found from the global map, so that the correspondence between the local map and the global map can be determined. Therefore, based on the above-mentioned correspondence relationship, the position of the vehicle in the local map can be mapped to the global map, and the initial position of the vehicle in the global map can be obtained. Because the global map is a digital description of the real geographic environment, the features in the global map correspond one-to-one with objects in the real geographic environment.
- the vehicle terminal uses only visual information to complete the vehicle's base on the basis of not relying on prior information such as GPS signals. Positioning initialization.
- the vehicle is started in an underground garage, and the vehicle-mounted terminal cannot receive the GPS signal at this time, and thus the GPS signal cannot be used to complete the preliminary positioning of the vehicle.
- the vehicle-mounted terminal controls the camera to capture the surrounding environment of the vehicle to obtain the target image.
- the target image is used to construct a local map describing the surrounding environment of the vehicle.
- the initial position of the vehicle in the global map completes the initialization of the vehicle's positioning.
- the vehicle-mounted terminal uses the target image captured by the camera to construct a local map describing the surrounding environment of the vehicle. After the local map and the pre-built local map are successfully matched, the local map can be used according to the local map.
- the position in the global map determines the initial position of the vehicle in the global map, so that the vehicle's positioning initialization can be completed using only visual information without relying on prior information such as GPS signals.
- FIG. 2 is a schematic flowchart of another positioning initialization method applied to vehicle positioning disclosed in an embodiment of the present invention.
- the positioning initialization method applied to vehicle positioning may include the following steps:
- step 201 The in-vehicle terminal determines whether the positioning end position at the end of the last positioning calculation is recorded. If yes, step 202 is performed, and if no, step 205 is performed.
- the vehicle-mounted terminal determines the positioning end position as an initial position of the vehicle in the global map.
- the last positioning calculation is a previous positioning calculation that occurred before the vehicle was started.
- the power of the vehicle terminal is cut off, and the vehicle terminal stops the positioning calculation. From the time the vehicle goes out to the next start, the vehicle is likely to have no position change and will not move.
- positioning initialization is required. At this time, if the positioning end position at the end of the last positioning is recorded, the positioning end position can be directly used as the initial position of the vehicle in the global map, thereby shortening the positioning initialization position. It takes time to improve the user experience.
- the in-vehicle terminal determines whether a satellite positioning signal is received, and if yes, executes step 204; if not, executes step 205.
- the vehicle-mounted terminal determines an initial position of the vehicle in the global map based on the satellite positioning signal.
- the global map described above may be an underground map used when a vehicle is driving in an underground garage.
- the above-ground map used by vehicles on the ground and the underground map used by vehicles in underground garages may belong to two different map expression systems.
- the above-ground map is a three-dimensional map
- the underground map is a two-dimensional map.
- the vehicle terminal may receive the satellite positioning signal. Therefore, the vehicle terminal can directly use the satellite positioning signal to determine the initial position of the vehicle terminal in the global map (that is, the underground map), thereby reducing the time required for positioning initialization To improve user experience.
- step 201 and step 203 there is no logical sequence relationship between step 201 and step 203, and the vehicle-mounted terminal may execute step 201 and step 203 simultaneously. If the in-vehicle terminal receives the satellite positioning signal while determining that the positioning end position is recorded, there may be errors in the satellite positioning result according to the propagation characteristics of the satellite positioning signal. Therefore, the in-vehicle terminal can select the positioning end position as the vehicle on the global map In the initial position.
- the vehicle-mounted terminal acquires multiple target images captured by multiple cameras at the same moment.
- the above-mentioned multiple cameras are cameras respectively installed in the front, rear, left, and right directions of the vehicle, and the framing range of each camera includes at least the ground below the camera.
- the cameras installed in the above four directions form the camera's surround view solution, so that the vehicle terminal can obtain environmental information in all directions around the vehicle at one time, so that the local map constructed using the target image obtained in a single acquisition contains more
- the features are beneficial to improve the matching success rate of local maps and global maps.
- the vehicle-mounted terminal stitches multiple target images to obtain a top-view mosaic image.
- the in-vehicle terminal stitches the target images captured by the cameras installed in the front, rear, left, and right directions of the vehicle at the same time, and the resulting top-view mosaic image includes a 360-degree environment centered on the vehicle. information.
- the vehicle terminal needs to perform anti-distortion processing on the target image before performing step 206 to stitch multiple target images, that is, according to a certain mapping rule, the The target image captured by the fisheye camera is projected onto the ground plane, and the images obtained after the projection are stitched together.
- the in-vehicle terminal recognizes image semantic features in the top-view mosaic image, and constructs a local map based on the identified image semantic features.
- the image semantic feature is a semantic feature that can be empirically filtered, has a special meaning, and is helpful for vehicle positioning.
- the vehicle is located in a parking lot, and the parking lot may be an above-ground parking lot or an underground parking lot, which is not limited in the embodiment of the present invention.
- the image semantic features may be lane lines, parking space lines, storage locations (intersection points between the storage space lines), zebra crossings, lane arrows, and the like, which are not limited in the embodiments of the present invention. Please refer to FIG. 3 together.
- FIG. 3 Please refer to FIG. 3 together.
- FIG. 3 is an exemplary diagram of a partial map of a parking lot constructed by a vehicle-mounted terminal according to an embodiment of the present invention.
- the passing lanes, storage lines, storage locations and other semantic features are composed of them.
- the dotted line with arrows shows the driving trajectory of the vehicle.
- the in-vehicle terminal may recognize image semantic features from a top-view mosaic image through an image recognition algorithm such as deep learning or image segmentation.
- an image recognition algorithm such as deep learning or image segmentation.
- a neural network model suitable for deep learning can be used to identify image semantic features, and a large number of top-down mosaic sample images labeled with image semantic features are used to train the neural network model in advance.
- the neural network model is as follows:
- the network structure uses the Encoder-Decoder model, which mainly includes two parts: the Encoder part and the Decoder part.
- the stitched image is input into the network, and the coding part of the network mainly extracts features of the image through convolution and pooling layers.
- the network is trained with labeled large samples, and the network parameters are adjusted to make the coding network accurate semantic and non-semantic features.
- the coding network extracts features through two convolutions, it performs downsampling through pooling. By cascading four two-layer convolutions and one pooling structure, the receptive fields of neurons on the top layer of the coding network can cover semantic elements of different scales in the examples of the present invention.
- the decoding network is a symmetric structure with the coding network, where the pooling layer of the coding network is changed to the upsampling layer.
- the features extracted from the encoding are enlarged to the size of the original image, thereby achieving pixel semantic classification. Upsampling is achieved by deconvolution. This operation can get most of the information in the input data, but some information is still lost. Therefore, we introduce the underlying features to supplement the details lost during the decoding process.
- These low-level features are mainly used to encode convolutional layers of different scales in the network.
- the features extracted by encoding the network convolutional layers on the same scale can be combined with deconvolution to generate more accurate feature maps.
- Network training mainly uses cross entropy to measure the difference between the predicted value and the actual value of the network. The cross entropy formula is as follows:
- y is the label value of the image element, that is, whether a pixel of the image is a semantic element or a non-semantic element. Generally, 1 is used for semantic elements and 0 is used for non-semantic elements.
- N is the total number of pixels in the image
- x is the input
- a is the neuron.
- the image semantic segmentation has been realized so far.
- the top-view mosaic image obtained by splicing the vehicle terminal is input to the trained neural network model, and based on the recognition result of the neural network model, the image semantic features in the top-view mosaic image can be identified.
- the deep learning method can be used to extract the image semantic features from the top-view mosaic, which can improve the recognition accuracy of the image semantic features.
- the above network structure is specifically designed for the extraction of semantic features of stitched images, and ensures the accuracy of the extraction of semantic features, which belongs to one of the invention points of the present invention.
- the target images are spliced first, and then the image semantic features are extracted from the top-view mosaic, instead of extracting the image semantic features in the target image one by one, which can improve the extraction efficiency of the image semantic features, which also belongs to the invention point of the invention One.
- the vehicle-mounted terminal detects a specific feature in the local map.
- the specific feature is an image semantic feature whose appearance probability in the local map is lower than the non-specific feature.
- the in-vehicle terminal identifies a target feature that matches a specific feature in a pre-built global map.
- the vehicle-mounted terminal determines the position of the local map in the global map according to the position of the target feature in the global map.
- the local map may include multiple types of semantic features, and different types of semantic features have different probability of appearing in the local map.
- lane lines and parking space lines are usually selected as semantic features.
- the present invention is concerned that the probability of the zebra crossing and the lane arrow appearing is lower than the lane line and the parking space line, which can be set as specific features for map matching.
- the use of specific features in the local map for matching between the local map and the global map can increase the probability of successful matching, which is also one of the inventive points of the present invention.
- the present invention is concerned that their distribution densities are not the same in curves and straights. According to this feature, it can also be used as a specific feature to assist in positioning the local map on the global map. This is also one of the invention points of the present invention.
- FIG. 4 is another exemplary partial map of a parking lot constructed by a vehicle terminal disclosed in an embodiment of the present invention.
- the local map includes three image semantic features of a location line, a location and a lane arrow. If the location line and location are used for matching, it is possible to match multiple areas from the global map with the local map. At this time, the matching accuracy is low.
- lane arrows lane arrows in different positions are also different in shape, size, and location relationship with surrounding location lines and locations. Therefore, using lane arrows to match local and global maps can Increase the probability of a successful match.
- the vehicle-mounted terminal maps the position of the vehicle in the local map to the global map based on the position of the local map in the global map to obtain the initial position of the vehicle in the global map.
- the vehicle-mounted terminal may directly use the positioning end position as a result of positioning initialization when recording the positioning end position, or may determine the positioning initialization based on the satellite positioning signal when receiving the satellite positioning signal.
- the time required for positioning initialization can be shortened, and the user experience can be improved.
- the vehicle-mounted terminal uses four cameras installed around the vehicle to form a camera look-around solution, so that the local map constructed using the target image obtained by a single acquisition contains more features, which is beneficial to The matching between the local map and the global map can also reduce the impact on the local map construction and positioning of the vehicle terminal when some cameras fail.
- the in-vehicle terminal uses a specific feature with a low probability of occurrence in the local map to perform matching between the local map and the global map, which can increase the probability of successful matching.
- FIG. 5 is a schematic structural diagram of a vehicle-mounted terminal disclosed in an embodiment of the present invention.
- the vehicle-mounted terminal shown in FIG. 5 is connected to each sensor of the vehicle, and receives and processes data collected by each sensor.
- the vehicle terminal includes:
- a constructing unit 501 is configured to construct a surrounding environment of a vehicle by using a target image captured by a camera to obtain a local map.
- the camera is installed on the vehicle and used to photograph the surrounding environment of the vehicle.
- the construction unit 501 may identify feature points in the target image based on the SLAM technology, and use these feature points to construct a map.
- cameras can be installed in front, rear, left, and right directions of the vehicle, and a viewing range of each camera includes at least the ground below the camera.
- the foregoing camera may be a fisheye camera, so that the target image captured by a single fisheye camera may include the surrounding environment of the vehicle as much as possible, improve the integrity of the local map, and increase the amount of information contained in the local map.
- the matching unit 502 is configured to match the local map constructed by the construction unit 501 with a pre-built global map to obtain the position of the local map in the global map.
- the matching unit 502 can find the same feature in the global map as the local map by searching for the same features in the local map and the global map, so that the location of the area is the local map in the global Location in the map.
- the local map constructed by the construction unit 501 may be a map composed of gradually accumulated map fragments. Due to the similarity of features, when the range of the local map is small, there may be multiple areas in the global map that are the same as the local map. At this time, it is difficult to determine the exact location of the local map in the global map. Therefore, the vehicle can continue to drive, and the in-vehicle terminal continuously acquires the target image captured by the vehicle during the driving process, adds the information of the target image to the original local map, and constructs a new local map, which is a process of gradual accumulation.
- the construction unit 501 may be triggered to continue to acquire the target image captured by the camera, and continue to use the target image to construct the local map described above.
- the first determining unit 503 is configured to map the position of the vehicle in the local map to the global map based on the position of the local map in the global map obtained by the matching unit 502 to obtain the initial position of the vehicle in the global map.
- the first determining unit 503 may determine the initial position of the vehicle in the global map. That is, determine the initial position of the vehicle in the real geographic environment (such as a parking lot).
- the target image captured by the camera can be used to construct a local map describing the surrounding environment of the vehicle.
- the local map can be used globally.
- the position in the map determines the initial position of the vehicle in the global map, so that the vehicle's positioning initialization can be completed using only visual information without relying on prior information such as GPS signals.
- FIG. 6 is a schematic structural diagram of another vehicle-mounted terminal disclosed by an embodiment of the present invention.
- the vehicle-mounted terminal shown in FIG. 6 is obtained by optimizing the vehicle-mounted terminal shown in FIG. 5.
- the above-mentioned construction unit 501 may include:
- the obtaining subunit 5011 is configured to obtain multiple target images captured by multiple cameras at the same time.
- the above-mentioned multiple cameras include at least four cameras respectively installed in front, rear, left, and right directions of the vehicle, and the framing range of each camera includes at least the ground below the camera.
- the cameras installed in the above-mentioned four directions form the camera's surround view solution, so that the local map constructed using the target image obtained in a single acquisition contains more features, which is beneficial to improving the matching success rate between the local map and the global map.
- there is a certain degree of redundancy between the data collected by each camera in the surround view solution because in the event that a certain camera fails, the collected data of the remaining cameras can be used as a supplement, which can reduce the failure of some cameras to construct the vehicle terminal. Local map and positioning effects.
- the stitching sub-unit 5012 is configured to stitch multiple target images acquired by the obtaining sub-unit 5011 to obtain a top-view mosaic image.
- the stitching subunit 5012 needs to perform anti-distortion processing on the target image before stitching multiple target images, that is, according to a certain mapping rule,
- the target image captured by the fisheye camera is projected onto the ground plane, and the images obtained after the projection are stitched together.
- a construction subunit 5013 is used to identify the image semantic features in the top-view mosaic image obtained by the mosaic subunit 5012, and construct a local map based on the identified image semantic features.
- the image semantic feature is a semantic feature that can be empirically filtered, has a special meaning, and is helpful for vehicle positioning.
- the image semantic feature may be a lane line, a parking space line, a storage location point, a zebra crossing, a lane arrow, and the like, which are not limited in the embodiment of the present invention.
- the construction sub-unit 5013 can recognize image semantic features from a top-view mosaic image through an image recognition algorithm such as deep learning or image segmentation.
- the semantic features of the image can be identified by using a neural network model suitable for deep learning: inputting the top-view mosaic image obtained by splicing the vehicle terminal into the trained neural network model, and the top view can be identified based on the recognition result of the neural network model.
- Image semantic features in mosaics can be used to extract the image semantic features from the top-view mosaic, which can improve the recognition accuracy of the image semantic features.
- the above-mentioned construction unit 501 constructs a local map based on the camera's surround view scheme. Compared with the technical solutions of the monocular camera's forward-looking scheme, the construction unit 501 uses a single observation to include more information in the local map, which can shorten positioning. The time required for initialization can also improve the accuracy of positioning.
- the aforementioned matching unit 502 may include:
- the detection sub-unit 5021 is configured to detect specific features in the local map constructed by the construction sub-unit 5013, wherein the specific features mentioned above are image semantic features whose appearance probability in the local map is lower than non-specific features.
- the specific feature is an image semantic feature whose appearance probability in the local map is lower than the non-specific feature.
- the local map may include multiple types of semantic features, and different types of semantic features have different probability of appearing in the local map.
- semantic features such as lane lines, parking space lines, storage locations, zebra crossings, and lane arrows are generally included, while features similar to zebra crossings or lane arrows with lower probability of occurrence can be set
- specific features used for map matching can be set. Using the specific features in the local map to match between the local map and the global map can increase the probability of successful matching.
- the identification sub-unit 5022 is used to identify target features in the pre-built global map that match the specific features identified by the detection sub-unit 5021.
- the determining subunit 5023 is used for identifying the subunit 5022 to determine the position of the local map in the global map according to the position of the target feature in the global map.
- the implementation of the on-board terminal shown in FIG. 6 can use only visual information to complete the positioning initialization of the vehicle, and can also use the four cameras installed around the vehicle to form a camera look-around solution, so that the target image obtained by a single acquisition is used to construct the
- the local map contains more features, which is beneficial to the matching between the local map and the global map. It can also reduce the impact on the local map construction and positioning of the vehicle terminal when some cameras fail.
- the in-vehicle terminal shown in FIG. 6 uses a specific feature with a low probability of occurrence in the local map to perform matching between the local map and the global map, which can increase the probability of successful matching.
- FIG. 7 is a schematic structural diagram of another vehicle-mounted terminal disclosed by an embodiment of the present invention.
- the vehicle-mounted terminal shown in FIG. 7 is obtained by optimizing the vehicle-mounted terminal shown in FIG. 6.
- the vehicle-mounted terminal may further include:
- a first determining unit 504 is configured to determine whether to record the positioning end position at the end of the last positioning calculation before constructing the surrounding environment of the vehicle using the target image captured by the camera to obtain a local map; One positioning calculation is the previous positioning calculation that occurred before the vehicle was started.
- the second determining unit 505 is configured to determine the end position of the positioning as the initial position of the vehicle in the global map when the first determining unit 504 determines that the positioning end position is recorded.
- the above-mentioned construction unit 501 is specifically configured to use the target image captured by the camera to construct the surrounding environment of the vehicle when the first determination unit 504 determines that the positioning end position is not recorded, to obtain a local map.
- the positioning end position can be directly used as the initial position of the vehicle in the global map. Position, which can shorten the time required for positioning initialization and improve the user experience.
- the vehicle-mounted terminal shown in FIG. 7 may also include:
- a second determining unit 506 is configured to determine whether a satellite positioning signal is received before the constructing unit 501 constructs a surrounding environment of the vehicle using a target image captured by a camera to obtain a local map.
- the third determining unit 507 is configured to determine an initial position of the vehicle in the global map based on the satellite positioning signal when the second determining unit 506 determines that the satellite positioning signal is received.
- the above-mentioned constructing unit 501 is specifically configured to use the target image captured by the camera to construct the surrounding environment of the vehicle when the second determining unit 506 determines that no satellite positioning signal is received, to obtain a local map.
- the second determination unit 506 may determine that a satellite positioning signal is received. Therefore, the vehicle-mounted terminal may directly trigger the third determination unit 507 to determine that the vehicle-mounted terminal is in the global map (ie, the underground map) using the satellite positioning signal. Initial position, which shortens the time required for positioning initialization and improves the user experience.
- the in-vehicle terminal set includes a first determination unit 504 and a second determination unit 506, and when the first determination unit 504 determines that it is recorded to the positioning end position, the second The judging unit 505 also judges that the satellite positioning signal is received. According to the propagation characteristics of the satellite positioning signal, there may be errors in the satellite positioning results. Therefore, the second determining unit 505 is triggered to execute the positioning end position as the initial position of the vehicle in the global map Position operation determines the positioning end position at the end of the last positioning calculation as the vehicle's positioning initialization result.
- the positioning of the vehicle can be completed using only the visual information.
- the positioning end position can be directly used as a result of positioning initialization.
- the result of positioning initialization can be determined based on the satellite positioning signal, thereby reducing the time required for positioning initialization. Time to improve user experience.
- the three positioning initialization methods mentioned above are complementary to each other, which can improve the stability of positioning initialization.
- FIG. 8 is a schematic structural diagram of another vehicle-mounted terminal disclosed in an embodiment of the present invention.
- the vehicle-mounted terminal may include:
- the communication bus 802 is used to implement connection and communication between these components.
- the user interface 803 may include a display screen, and the optional user interface 803 may further include a standard wired interface and a wireless interface.
- the network interface 804 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface).
- the memory 805 may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), for example, at least one magnetic disk memory.
- the memory 805 may optionally be at least one storage device located far from the foregoing processor 801. As shown in FIG. 8, a memory 805 as a computer storage medium stores executable program code, which may include at least an operating system, a network communication module, a user interface module, and a positioning initialization module.
- the network interface 804 is mainly used to connect to the server and perform data communication with the server (such as downloading a global map); and the processor 801 may be coupled to the memory 805 and used to call the memory stored in the memory 805.
- the executable program code corresponding to the positioning initialization module executes any positioning initialization method applied to vehicle positioning shown in FIG. 1 or FIG. 2.
- vehicle-mounted terminal shown in FIG. 8 may further include components not shown, such as a power source, input buttons, speakers, and a Bluetooth module, which are not described in this embodiment.
- An embodiment of the present invention discloses a computer-readable storage medium that stores a computer program, wherein the computer program causes a computer to execute any one of the positioning initialization methods shown in FIG. 1 or FIG. 2 that is applied to vehicle positioning.
- An embodiment of the present invention discloses a computer program product.
- the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute any one of FIG. 1 or FIG. 2.
- an embodiment or “an embodiment” mentioned throughout the specification means that a particular feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present invention.
- the appearances of "in one embodiment” or “in an embodiment” appearing throughout the specification are not necessarily referring to the same embodiment.
- the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
- the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present invention.
- the units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objective of the solution of this embodiment.
- the functional units in the embodiments of the present invention may be integrated into one processing unit, or each of the units may exist separately physically, or two or more units may be integrated into one unit.
- the above integrated unit may be implemented in the form of hardware or in the form of software functional unit.
- the technical solution of the present invention essentially or part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory , Including a number of requests to cause a computer device (which may be a personal computer, a server, or a network device, specifically a processor in a computer device) to perform some or all of the steps of the foregoing methods of various embodiments of the present invention.
- a computer device which may be a personal computer, a server, or a network device, specifically a processor in a computer device
- the program may be stored in a computer-readable storage medium, and the storage medium includes a read-only Read-Only Memory (ROM), Random Access Memory (RAM), Programmable Read-only Memory (PROM), Erasable Programmable Read Only Memory, EPROM), One-time Programmable Read-Only Memory (OTPROM), Electronically-Erasable Programmable Read-Only Memory (EEPROM), Compact Disc (Compact Disc) Read-Only Memory (CD-ROM) or other optical disk storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.
- ROM Read-Only Memory
- RAM Random Access Memory
- PROM Programmable Read-only Memory
- EPROM Erasable Programmable Read Only Memory
- OTPROM One-time Programmable Read-Only Memory
- EEPROM Electronically-Erasable Programmable Read-Only Memory
- CD-ROM Compact Disc
- CD-ROM Compact Disc
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Abstract
Description
Claims (10)
- 一种应用于车辆定位的定位初始化方法,其特征在于,所述方法包括:A positioning initialization method applied to vehicle positioning is characterized in that the method includes:利用图像采集装置拍摄到的目标图像对车辆的周围环境进行构建,以得到局部地图;Use the target image captured by the image acquisition device to construct the surrounding environment of the vehicle to obtain a local map;将所述局部地图与预先构建的全局地图进行匹配,以得到所述局部地图在所述全局地图中的位置;其中,随着车辆的行驶,局部地图的范围逐渐增大,当局部地图的范围增大到能够从全局地图中匹配到唯一一个与局部地图相同的区域时,根据该区域在全局地图中的位置确定局部地图在全局地图中的位置;Matching the local map with a pre-built global map to obtain the position of the local map in the global map; wherein, as the vehicle travels, the range of the local map gradually increases. When it is increased to be able to match the only area that is the same as the local map from the global map, the position of the local map in the global map is determined according to the location of the area in the global map;基于所述局部地图在所述全局地图中的位置,将所述车辆在所述局部地图中的位置映射到所述全局地图中,以得到所述车辆在所述全局地图中初始位置。Based on the position of the local map in the global map, map the position of the vehicle in the local map to the global map to obtain the initial position of the vehicle in the global map.
- 根据权利要求1所述的应用于车辆定位的定位初始化方法,其特征在于,所述利用图像采集装置拍摄到的目标图像对所述车辆的周围环境进行构建,以得到局部地图,包括:The positioning initialization method applied to vehicle positioning according to claim 1, wherein the use of a target image captured by an image acquisition device to construct a surrounding environment of the vehicle to obtain a local map includes:获取多个图像采集装置在同一时刻拍摄到的多张目标图像;所述多个图像采集装置包括分别安装在所述车辆的前、后、左、右四个方向的图像采集装置,每个所述图像采集装置的取景范围至少包括该图像采集装置的下方地面;Acquire multiple target images captured by multiple image acquisition devices at the same time; the multiple image acquisition devices include image acquisition devices installed in the front, rear, left, and right directions of the vehicle, each The framing range of the image acquisition device includes at least the ground below the image acquisition device;对多张所述目标图像进行拼接,以得到俯视拼接图;Stitching a plurality of said target images to obtain a top-view mosaic image;识别所述俯视拼接图中的图像语义特征,并基于所述图像语义特征构建局部地图。Identify image semantic features in the top-view mosaic image, and build a local map based on the image semantic features.
- 根据权利要求2所述的应用于车辆定位的定位初始化方法,其特征在于,所述将所述局部地图与预先构建的全局地图进行匹配,以得到所述局部地图在所述全局地图中的位置包括:The positioning initialization method applied to vehicle positioning according to claim 2, wherein the local map is matched with a pre-built global map to obtain a position of the local map in the global map include:检测所述局部地图中的特定特征,所述特定特征为在所述局部地图中的出现概率低于非所述特定特征的所述图像语义特征;Detecting a specific feature in the local map, where the specific feature is a semantic feature of the image whose appearance probability in the local map is lower than the non-specific feature;识别预先构建的全局地图中与所述特定特征相匹配的目标特征;Identifying target features in the pre-built global map that match the specific features;根据所述目标特征在所述全局地图中的位置,确定所述局部地图在所述全局地图中的位置。Determining a position of the local map in the global map according to a position of the target feature in the global map.
- 根据权利要求1~3任一项所述的应用于车辆定位的定位初始化方法,其特征在于,在所述利用图像采集装置拍摄到的目标图像对所述车辆的周围环境进行构建,以得到局部地图之前,所述方法还包括:The positioning initialization method applied to vehicle positioning according to any one of claims 1 to 3, wherein the surrounding environment of the vehicle is constructed in the target image captured by the image acquisition device to obtain a local Before the map, the method further includes:判断是否记录到上一次定位计算结束时的定位结束位置,所述上一次定位计算为在所述车辆启动前发生的前一次定位计算;Determining whether to record the end position of the positioning at the end of the last positioning calculation, where the last positioning calculation is a previous positioning calculation that occurred before the vehicle was started;如果记录到所述定位结束位置,将所述定位结束位置确定为所述车辆在所述全局地图中的初始位置;If the positioning end position is recorded, determining the positioning end position as an initial position of the vehicle in the global map;如果未记录到所述定位结束位置,执行所述利用图像采集装置拍摄到的目标图像对所述车辆的周围环境进行构建,以得到局部地图。If the positioning end position is not recorded, the target image captured by the image acquisition device is used to construct the surrounding environment of the vehicle to obtain a local map.
- 根据权利要求1~3任一项所述的应用于车辆定位的定位初始化方法,其特征在于,在所述利用图像采集装置拍摄到的目标图像对所述车辆的周围环境进行构建,以得到局部地图之前,所述方法还包括:The positioning initialization method applied to vehicle positioning according to any one of claims 1 to 3, wherein the surrounding environment of the vehicle is constructed in the target image captured by the image acquisition device to obtain a local Before the map, the method further includes:判断是否接收到卫星定位信号,如果接收到所述卫星定位信号,基于所述卫星定位信号确定所述车辆在所述全局地图中的初始位置;Determine whether a satellite positioning signal is received, and if the satellite positioning signal is received, determine an initial position of the vehicle in the global map based on the satellite positioning signal;如果未接收到所述卫星定位信号,执行所述利用图像采集装置拍摄到的目标图像对所述车辆的周围环境进行构建,以得到局部地图。If the satellite positioning signal is not received, executing the target image captured by the image acquisition device to construct the surrounding environment of the vehicle to obtain a local map.
- 一种车载终端,其特征在于,包括:A vehicle-mounted terminal, comprising:构建单元,用于利用图像采集装置拍摄到的目标图像对所述车辆的周围环境进行构建,以得到局部地图;A construction unit, configured to construct a surrounding environment of the vehicle by using a target image captured by an image acquisition device to obtain a local map;匹配单元,用于将所述局部地图与预先构建的全局地图进行匹配,以得到所述局部地图在所述全局地图中的位置;其中,随着车辆的行驶,所述局部地图的范围逐渐增大,当所述局部地图的范围增大到能够从所述全局地图中匹配到唯一一个与所述局部地图相同的区域时,根据该区域在所述全局地图中的位置确定所述局部地图在所述全局地图中的位置;A matching unit configured to match the local map with a pre-built global map to obtain a position of the local map in the global map; wherein, as the vehicle travels, the range of the local map gradually increases Large, when the range of the local map is increased to be able to match from the global map to the only area that is the same as the local map, determining the location of the local map based on the location of the area in the global map A position in the global map;第一确定单元,用于基于所述局部地图在所述全局地图中的位置,将所述车辆在所述局部地图中的位置映射到所述全局地图中,以得到所述车辆在所述全局地图中初始位置。A first determining unit, configured to map a position of the vehicle in the local map to the global map based on a position of the local map in the global map to obtain the vehicle in the global map The initial position in the map.
- 根据权利要求6所述的车载终端,其特征在于,所述构建单元,包括:The vehicle-mounted terminal according to claim 6, wherein the construction unit comprises:获取子单元,用于获取多个图像采集装置在同一时刻拍摄到的多张目标图像;所述多个图像采集装置包括分别安装在所述车辆前、后、左、右四个方向的图像采集装置,每个所述图像采集装置的取景范围至少包括该图像采集装置的下方地面;An acquisition subunit, configured to acquire multiple target images captured by multiple image acquisition devices at the same moment; the multiple image acquisition devices include image acquisitions respectively installed in front, rear, left, and right directions of the vehicle Device, the framing range of each said image acquisition device includes at least the ground below the image acquisition device;拼接子单元,用于对多张所述目标图像进行拼接,以得到俯视拼接图;A stitching sub-unit for stitching a plurality of said target images to obtain a top-view stitching image;构建子单元,用于识别所述俯视拼接图中的图像语义特征,并基于所述图像语义特征构建局部地图。A construction subunit is used for identifying the image semantic feature in the top-view mosaic image, and constructing a local map based on the image semantic feature.
- 根据权利要求7所述的车载终端,其特征在于,所述匹配单元,包括:The vehicle-mounted terminal according to claim 7, wherein the matching unit comprises:检测子单元,用于检测所述局部地图中的特定特征,所述特定特征为在所述局部地图中的出现概率低于非所述特定特征的所述图像语义特征;A detection subunit, configured to detect a specific feature in the local map, where the specific feature is a semantic feature of the image whose appearance probability in the local map is lower than the non-specific feature;识别子单元,用于识别预先构建的全局地图中与所述特定特征相匹配的目标特征;A recognition subunit for identifying a target feature in a pre-built global map that matches the specific feature;确定子单元,用于根据所述目标特征在所述全局地图中的位置,确定所述局部地图在所述全局地图中的位置。A determining subunit, configured to determine a position of the local map in the global map according to a position of the target feature in the global map.
- 根据权利要求6~8中任一项所述的车载终端,其特征在于,所述车载终端还包括:The vehicle-mounted terminal according to any one of claims 6 to 8, wherein the vehicle-mounted terminal further comprises:第一判断单元,用于在所述构建单元利用图像采集装置拍摄到的目标图像对车辆的周围环境进行构建以得到局部地图之前,判断是否记录到上一次定位计算结束时的定位结束位置,所述上一次定位计算为在所述车辆启动前发生的前一次定位计算;A first determining unit is configured to determine whether the positioning end position at the end of the last positioning calculation is recorded before the construction unit uses the target image captured by the image acquisition device to construct the surrounding environment of the vehicle to obtain a local map. The last positioning calculation is a previous positioning calculation that occurred before the vehicle was started;第二确定单元,用于在所述第一判断单元判断出记录到所述定位结束位置时,将所述定位结束位置确定为所述车辆在所述全局地图中的初始位置;A second determining unit, configured to determine the positioning end position as the initial position of the vehicle in the global map when the first determination unit determines that the positioning end position is recorded;所述构建单元,具体用于在所述第一判断单元判断出未记录到所述定位结束位置时,利用图像采集装置拍摄到的目标图像对所述车辆的周围环境进行构建,以得到局部地图。The construction unit is specifically configured to use the target image captured by the image acquisition device to construct the surrounding environment of the vehicle when the first determination unit determines that the positioning end position is not recorded, to obtain a local map .
- 根据权利要求3或8所述的车载终端,其特征在于,特定特征包括斑马线、车道箭头、库位点。The vehicle-mounted terminal according to claim 3 or 8, wherein the specific characteristics include a zebra crossing, a lane arrow, and a storage location.
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