Parking lot map generation method, device and system, vehicle and readable storage medium
Parking lot map generation method, device and system, vehicle and readable storage medium
- Neue Suche nach: WANG XIN
- Neue Suche nach: GU LEYAN
- Neue Suche nach: LI WEI
- Neue Suche nach: ZHANG YONG
- Neue Suche nach: WANG XIN
- Neue Suche nach: GU LEYAN
- Neue Suche nach: LI WEI
- Neue Suche nach: ZHANG YONG
The invention discloses a parking lot map generation method, device and system, a vehicle and a readable storage medium, relates to the technical field of vehicles, and aims to improve the accuracy of generating a parking lot map. The method comprises the following steps: determining a pose matrix of multiple groups of semantic image frames of the parking lot in a top view angle; for the plurality of groups of semantic image frames, splicing the plurality of semantic image frames in one group of semantic image frames to obtain semantic sub-graphs, and determining a pose matrix of the semantic sub-graphs according to pose matrixes of the plurality of semantic image frames to obtain a plurality of semantic sub-graphs and corresponding pose matrixes; determining a first constraint and a second constraint; and optimizing the pose matrix of the plurality of groups of semantic image frames by using the first constraint and the second constraint, and generating a parking lot map according to the optimized pose matrix.
本申请公开了一种停车场地图生成方法、装置、系统、车辆及可读存储介质，涉及车辆技术领域，以提高生成停车场地图的精准度。该方法包括：确定俯视视角下停车场的多组语义图像帧的位姿矩阵；针对所述多组语义图像帧，将一组语义图像帧中的多个语义图像帧进行拼接得到语义子图，并根据所述多个语义图像帧的位姿矩阵确定所述语义子图的位姿矩阵，以获取多个语义子图以及对应的位姿矩阵；确定第一约束和第二约束；利用所述第一约束和所述第二约束优化所述多组语义图像帧的位姿矩阵，并根据优化后的位姿矩阵生成停车场地图。
Dokumentinformationen
Parking lot map generation method, device and system, vehicle and readable storage medium
停车场地图生成方法、装置、系统、车辆及可读存储介质
2024-02-02
Patent
Elektronische Ressource
Chinesisch
| IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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