公开(公告)号：US11373328B2

公开(公告)日：2022-06-28

申请号：US17038231

申请日：2020-09-30

Applicant: BEIJING BAIDU NETCOM SCIENCE AND TECHNOLOGY CO., LTD.

Inventor： Guowei Wan ,  Shenhua Hou ,  Shiyu Song

IPC: G06T7/73 ,  G01S17/89 ,  G06K9/62 ,  G06N7/00 ,  G06V10/20

Abstract: The disclosure provides a method, an apparatus, a device and a storage medium for positioning an object. The method includes: obtaining a map related to a region where the object is located, the map including a plurality of map layers having different height information; determining, based on the map and current point cloud data related to the object, an estimated position of the object, an estimated height corresponding to the estimated position and an estimated probability that the object is located at the estimated position with an estimated posture; and determining, at least based on the estimated position, the estimated height and the estimated probability, positioning information for the object, the positioning information indicating at least one of a current position of the object, a current height of the object and a current posture of the object.