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公开(公告)号：US11624827B2
公开(公告)日：2023-04-11
申请号：US16459687
申请日：2019-07-02
发明人： Li Yu , Shiyu Song , Fangfang Dong
摘要： A method and an apparatus for generating a high precision map, and a storage medium for generating a high precision map. The method includes: performing a point cloud splicing process on target point cloud data to obtain a lidar pose corresponding to the target point cloud data; projecting the target point cloud data into a preset two-dimensional area based on the lidar pose to generate a map based on a reflection value and a height value; performing a self-positioning verification on the map based on the reflection value and the height value using the target point cloud data; and integrating, if a result of the self-positioning verification satisfies a preset condition, the map based on the reflection value and the height value into a reference map to generate the high precision map.
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公开(公告)号：US11328401B2
公开(公告)日：2022-05-10
申请号：US16517782
申请日：2019-07-22
发明人： Weixin Lu , Shiyu Song , Fangfang Dong , Shengpan Xu
摘要： A stationary object detecting method, a stationary object apparatus, and an electronic device are disclosed in embodiments of the present disclosure, the method includes: obtaining point cloud data of a scene and feature information of each of data points in the point cloud data; performing a triangulation network connection on each of the data points in the point cloud data to generate a triangular network model, and taking a picture of the triangular network model using a preset camera to obtain an image; obtaining a first data point corresponding to each pixel point in the image, and obtaining a feature map of the point cloud data according to feature information of each first data point; inputting the feature map into a classification model to obtain data points corresponding to the stationary object in the point cloud data.
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