公开(公告)号：US20210270609A1

公开(公告)日：2021-09-02

申请号：US16806331

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: G01C21/16 ,  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.

公开(公告)号：US20210270613A1

公开(公告)日：2021-09-02

申请号：US16806445

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: G01C21/32

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.

公开(公告)号：US20210270612A1

公开(公告)日：2021-09-02

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

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.