Map generation device
Map generation device
- Neue Suche nach: KABUSHIKI KAISHA MIRACLE THREE CORPORATION
- Neue Suche nach: KABUSHIKI KAISHA MIRACLE THREE CORPORATION
A map generation device is provided with: an extraction unit (171) that extracts a feature point from detection information detected by a vehicle-mounted detector that detects the situation around a host vehicle; a selection unit (172) that selects, from among the extracted plurality of feature points, a feature point to be used for calculation by the calculation unit (173); a calculation unit (173) that, on the basis of the plurality of pieces of detection information, calculates the three-dimensional position of the same feature point included in the plurality of pieces of detection information for each of the plurality of selected different feature points using the position and orientation of the in-vehicle detector; and a generation unit (174) that uses the calculated three-dimensional positions of the plurality of different feature points to generate a map including information on each of the three-dimensional positions. The selection unit selects feature points so as to reduce the difference between the number of feature points on a plurality of objects located in a first distance domain on the vehicle-mounted detector side and the number of feature points on a plurality of objects located in a second distance domain farther than the first distance domain.
本发明提供一种地图生成装置，具备：提取部(171)，其从由检测本车辆的周围的状况的车载检测器检测出的检测信息中提取特征点；选择部(172)，其从所提取出的多个特征点中选择用于在计算部(173)进行计算的特征点；计算部(173)，其根据多个检测信息，使用车载检测器的位置和姿势，针对所选择出的多个不同的特征点，分别计算多个检测信息中所包含的相同的特征点的三维位置；以及生成部(174)，其使用所计算出的多个不同的特征点的三维位置，生成包括各三维位置的信息的地图。选择部以减少位于车载检测器侧的第一距离域的多个物体上的特征点与位于比第一距离域远的第二距离域的多个物体上的特征点的数量的差距的方式选择特征点。
Dokumentinformationen
Map generation device
地图生成装置
2023-10-17
Patent
Elektronische Ressource
Chinesisch
| IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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