Intelligent vehicle positioning method based on feature point calibration
Intelligent vehicle positioning method based on feature point calibration
- New search for: ZHANG XINYU
- New search for: LI JUN
- New search for: GUO SHICHUN
- New search for: LIU HUAPING
- New search for: ZHOU MO
- New search for: GAO WENJU
- New search for: ZHANG XINYU
- New search for: LI JUN
- New search for: GUO SHICHUN
- New search for: LIU HUAPING
- New search for: ZHOU MO
- New search for: GAO WENJU
An intelligent vehicle positioning method based on feature point calibration is provided. The intelligent vehicle positioning method includes: determining whether an intelligent vehicle is located in a blind area or a non-blind area; when the intelligent vehicle is located in a GNSS non-blind area, combining GNSS signals, odometer data and inertial measurement unit data, acquiring a current pose of the intelligent vehicle through a Kalman filtering, scanning a surrounding environment of the intelligent vehicle by using a laser radar, extracting corner points and arc features and performing processing to obtain the corner points and circle centers as the feature points, calculating global coordinates and weights of the feature points and storing the global coordinates and the weights of the feature points in a current feature point list.
Document information
Intelligent vehicle positioning method based on feature point calibration
2021-05-11
Patent
Electronic Resource
English
| IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06V / H01Q Antennen , ANTENNAS, i.e. RADIO AERIALS |
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