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公开(公告)号：US20220164595A1
公开(公告)日：2022-05-26
申请号：US17104989
申请日：2020-11-25
Inventor： Yao ZHOU , Guowei WAN , Shenhua HOU , Shiyu SONG
Abstract: The present disclosure provides a method, an apparatus, an electronic device and a storage medium for vehicle localization, which relates to the technical fields of autonomous driving, electronic map, deep learning, image processing, and the like. In the method, a computing device obtains an image descriptor map corresponding to a captured image of an external environment of a vehicle and a predicted pose of the vehicle when the captured image is captured; obtains a set of reference descriptors and a set of spatial coordinates corresponding to a set of keypoints of a reference image of the external environment; determines a plurality of sets of image descriptors corresponding to the set of spatial coordinates when the vehicle is in a plurality of candidate poses, respectively; determines a plurality of similarities between the plurality of sets of image descriptors and the set of reference descriptors; and updates the predicted pose based on the plurality of candidate poses and the plurality of similarities. Embodiments of the present disclosure can improve localization accuracy and robustness of the vehicle visual localization algorithm.
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公开(公告)号：US20220164603A1
公开(公告)日：2022-05-26
申请号：US17105027
申请日：2020-11-25
Inventor： Yao ZHOU , Guowei WAN , Shenhua HOU , Shiyu SONG
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.
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Patent Agency Ranking
公开(公告)号：US20210270609A1
公开(公告)日：2021-09-02
申请号：US16806331
申请日：2020-03-02
Inventor： Shenhua HOU , Wendong DING , Hang GAO , Guowei WAN , Shiyu SONG
IPC: G01C21/16 , G01S17/894 , G01S17/02
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 inertial measurement data of a device to be positioned at a current time and point cloud data collected by a LiDAR on the device at the current time; determines, by integrating the inertial measurement data, inertial positioning information of the device in an inertial coordinate system at the current time; and determines, based on the inertial positioning information, the point cloud data and at least one local map built in a local coordinate system, a positioning result of the device in the local coordinate system at the current time. Techniques of the present disclosure can provide an effective and stable local positioning result.
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公开(公告)号：US20210192777A1
公开(公告)日：2021-06-24
申请号：US17038231
申请日：2020-09-30
Inventor： Guowei WAN , Shenhua HOU , Shiyu SONG
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.
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公开(公告)号：US20210270613A1
公开(公告)日：2021-09-02
申请号：US16806445
申请日：2020-03-02
Inventor： Shenhua HOU , Wendong DING , Hang GAO , Guowei WAN , Shiyu SONG
IPC: G01C21/32
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.
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公开(公告)号：US20210270612A1
公开(公告)日：2021-09-02
申请号：US16806442
申请日：2020-03-02
Inventor： Shenhua HOU , Wendong DING , Hang GAO , Guowei WAN , Shiyu SONG
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.
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公开(公告)号：US20210209792A1
公开(公告)日：2021-07-08
申请号：US17209159
申请日：2021-03-22
Inventor： Yao ZHOU , Guowei WAN , Shiyu SONG
Abstract: A positioning method includes acquiring an image of an area where a target object is located at a first time instant and multiple frames of point cloud data of an area where the target object is located at multiple time instants, wherein the multiple frames of point cloud data include first point cloud data of the area where the target object is located at the first time instant. The method also includes determining a point cloud map according to the multiple frames of point cloud data and acquiring a target feature vector according to the first point cloud data, the point cloud map and the image. The method further includes determining a positioning result of the target object according to the target feature vector.
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