公开(公告)号：US11852751B2

公开(公告)日：2023-12-26

申请号：US16806442

申请日：2020-03-02

Applicant: Beijing Baidu Netcom Science and Technology Co., Ltd.

Inventor： Shenhua Hou ,  Wendong Ding ,  Hang Gao ,  Guowei Wan ,  Shiyu Song

IPC: G01C21/30 ,  G01S17/42 ,  G01S17/89 ,  G01S7/48 ,  G06F18/25

CPC classification number: G01S7/4808 ,  G01C21/30 ,  G01S17/42 ,  G01S17/89 ,  G06F18/251

Abstract: The present disclosure provides a method, an apparatus, a computer device and a computer-readable storage medium for positioning, and relates to the field of autonomous driving. The method obtains point cloud data collected by a LiDAR on a device at a current time; determines, based on the point cloud data and a global map built in a global coordinate system, global positioning information of the device in the global coordinate system at the current time; and determine, based on the point cloud data and a local map built in a local coordinate system, local positioning information of the device in the local coordinate system at the current time. A positioning result of the device at the current time is determined based on at least the global positioning information and the local positioning information. Techniques of the present disclosure can provide an effective and stable positioning service.

公开(公告)号：US11748449B2

公开(公告)日：2023-09-05

申请号：US17105027

申请日：2020-11-25

Applicant: Beijing Baidu Netcom Science and Technology Co., Ltd.

Inventor： Yao Zhou ,  Guowei Wan ,  Shenhua Hou ,  Shiyu Song

IPC: G06V10/22 ,  G06F18/214 ,  G06N3/08 ,  G06F18/22 ,  G06F18/2415

CPC classification number: G06F18/2148 ,  G06F18/22 ,  G06F18/2415 ,  G06N3/08 ,  G06V10/22

Abstract: The present disclosure provides a data processing method, an apparatus, an electronic device and a medium, which relates to the technical fields of autonomous driving, electronic maps, deep learning, image processing, and the like. The method includes: a computing device inputs a reference image and a captured image into a feature extraction model; obtain, a set of reference descriptors based on the first descriptor map; determine a plurality of sets of training descriptors; obtain a predicted pose of the vehicle by inputting the plurality of training poses and a plurality of similarities into a pose prediction model; and train the feature extraction model and the pose prediction model. When applied to a vehicle localization system, the trained feature extraction model and pose prediction model according to some embodiments of the present disclosure can improve accuracy and robustness of vehicle localization, thereby boosting the performance of the vehicle localization system.

公开(公告)号：US11466992B2

公开(公告)日：2022-10-11

申请号：US16806445

申请日：2020-03-02

Applicant: Beijing Baidu Netcom Science and Technology Co., Ltd.

Inventor： Hang Gao ,  Wendong Ding ,  Shenhua Hou ,  Guowei Wan ,  Shiyu Song

IPC: G01C21/32 ,  G05D1/00 ,  G05D1/02

Abstract: The present disclosure provides a method, an apparatus, a computing device and a computer readable storage medium for detecting an environmental change, and relates to the field of autonomous driving. The method obtains a global map for an area and a first local map built in real time for a sub-area in the area; and determines an environmental change in the first sub-area by comparing the first local map and the global map and determining a first probability of the environmental change. Techniques of the present disclosure can automatically detect environmental changes that affect the positioning of autonomous driving, thereby facilitating the updating of positioning maps.

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.