CN109189872A - Accurately diagram data verifies device and method - Google Patents
Accurately diagram data verifies device and method Download PDFInfo
- Publication number
- CN109189872A CN109189872A CN201810918620.1A CN201810918620A CN109189872A CN 109189872 A CN109189872 A CN 109189872A CN 201810918620 A CN201810918620 A CN 201810918620A CN 109189872 A CN109189872 A CN 109189872A
- Authority
- CN
- China
- Prior art keywords
- display window
- diagram data
- driving scene
- drive simulating
- accurately diagram
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/003—Navigation within 3D models or images
Landscapes
- Engineering & Computer Science (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Computer Graphics (AREA)
- Computer Hardware Design (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Processing Or Creating Images (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The present invention discloses a kind of accurately diagram data verification method and system, the method includes loading accurately diagram data, establishes three-dimensional Driving Scene；A display window for being located at any monocular relative position of drive simulating person is established in the three-dimensional Driving Scene；The display window is driven to advance along driving path simulating vehicle；Drive simulating person observes the three-dimensional Driving Scene and the interface marking error data in the display window.The present invention can carry out drive simulating under the three-dimensional Driving Scene established by accurately diagram data along driving path under drive simulating person visual angle, and the existing wrong data of accurately diagram data is found and recorded in drive simulating, it searches and corrects for engineering staff.
Description
Technical field
The present invention relates to technical field of geographic information, and in particular to, a kind of drive simulating person visual angle progress high-precision map
The device and method of data verification.
Background technique
With the development of automatic Pilot technology, it is different from conventional digital map, for providing a large amount of road data information
Accurately diagram technology has become necessary.
The foundation of traditional high-precision map mainly imports the distant of Fundamental Geographic Information System or acquisition in GIS-Geographic Information System
Image is felt, in order to which error may be reduced less.Verifying is carried out to the data of high-precision map to be necessary.
The visual angle that the verification method of high-precision map is generally based on six aspects carries out data verification；In verification process
In, it is contemplated that tremendous influence of the different perspectives to verify data needs constantly to switch the visual angle of six aspects to reduce as far as possible
Error.Verification efficiency inevitably can be reduced to switching visual angle in high-precision map verification method.
Summary of the invention
The embodiment of the present invention at least provides a kind of accurately diagram data verification method, is able to solve the verifying of high-precision map
The problem of low efficiency.
The described method includes:
Step100, accurately diagram data is loaded, establishes three-dimensional Driving Scene；
Step200, one is established positioned at the aobvious of any monocular relative position of drive simulating person in the three-dimensional Driving Scene
Show window；
Step300, the driving display window advance along driving path simulating vehicle.
Step400, drive simulating person observe the three-dimensional Driving Scene and the interface marking error in the display window
Data.
In some embodiments disclosed by the invention,
The Step200 is configured that
Step210, the starting point coordinate for loading or setting driving path in the three-dimensional Driving Scene,
Step220, one threshold value coordinate of superposition and starting point coordinate are that the observation of any monocular relative position of drive simulating person is sat
Mark, the center of the display window is located at the viewing coordinates.
In some embodiments disclosed by the invention,
It is configured that after the Step220
Step230, an observation line of vector, the display window and the observation are established by originating point of the viewing coordinates
Line of vector is vertical；
The direction of advance rotation angle of Step240, the observation line of vector and drive simulating are less than 90 degree.
In some embodiments disclosed by the invention,
The Step200 is configured to establish one between drive simulating person's binocular with respect to position in the three-dimensional Driving Scene
The display window set；
In some embodiments disclosed by the invention,
The Step200, which is configured to establish two in the three-dimensional Driving Scene, to be located at drive simulating person's binocular and sits
Target display window；
In some embodiments disclosed by the invention,
The Step300 is configured that
Step310, driving path is sequentially divided at least two intermediate paths；
Step320, the driving display window successively advance along intermediate path simulating vehicle and drive simulating person observes institute
State the road data in three-dimensional Driving Scene；
Step400, using the both ends of intermediate path as starting point, observe the three-dimensional Driving Scene and in the display window
Interface marking error data.
In some embodiments disclosed by the invention,
The Step310 is configured to that the driving path is divided into intermediate road with the travel speed of the simulating vehicle
Diameter.
In some embodiments disclosed by the invention,
The Step320 is configured that
Step321, using the both ends of the intermediate path as point of observation, configuration drive simulating person visual angle is horizontally diverted angle
And/or vertical pitch angle；
Step322, the driving display window are horizontally diverted angle and the/vertical pitch angle in the point of observation with described
For according to adjustment direction of observation.
In some embodiments disclosed by the invention,
The Step400 is configured that
Step410, at the interface of display window the mistake is clicked after the three-dimensional Driving Scene identification wrong data
Data；
Step420, the interface generate an indicia framing including the wrong data；
Step430, the details that the wrong data is recorded in the indicia framing；
Step440, the coordinate position of the storage indicia framing and details modify database to one.
Another embodiment of the present invention discloses a kind of accurately diagram data verifying system, the system comprises:
Display module is configured to the load accurately diagram data, emulates three-dimensional Driving Scene；
Visual angle module is configured to establish one positioned at any monocular of drive simulating person in the three-dimensional Driving Scene of emulation
The display window of relative position simultaneously drives the display window to advance along driving path simulating vehicle；
Error logging module is configured to mark after observing the three-dimensional Driving Scene discovery wrong data and stores the mistake
Accidentally data.
For above scheme, the present invention is by being referring to the drawings described in detail disclosed exemplary embodiment, also
The other feature and its advantage for making the embodiment of the present invention understand.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the flow chart of embodiment；
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
The present embodiment discloses a kind of accurately diagram data verification method, for being tested in drive simulating with driver visual angle
Demonstrate,prove data, which comprises
Accurately a three-dimensional Driving Scene is established in diagram data and emulation for Step100, load；
Step200, a display window for being located at any monocular relative position of drive simulating person is established in three-dimensional Driving Scene
Mouthful, specifically:
Step210, the driving path of load or calculating simulation vehicle and at least determining simulation vehicle in three-dimensional Driving Scene
Starting point coordinate P；
The dimension data of Step220, foundation simulating vehicle and driver, establish a threshold value coordinate T and are superimposed threshold value coordinate T
With starting point coordinate P it is the viewing coordinates C of any monocular relative position of drive simulating person, then makes central point and the observation of display window
Coordinate is overlapped.
So, when viewing coordinates C is that drive simulating person advances along driving path, the visual angle starting point of drive simulating person；It is aobvious
Show that window is able to as optimal drive simulating person visual angle.
Further for drive simulating person visual angle when simulating vehicle advances along driving path, drive simulating person visual angle is to week
The observation of side Driving Scene.The method of the present embodiment is further configured with:
Step230, an observation line of vector, display window and the observation line of vector are established by originating point of viewing coordinates C
Vertically；
The direction of advance rotation angle of Step240, observation line of vector and drive simulating are less than 90 degree.
So, sight of the present embodiment by observation line of vector as drive simulating person, and to observation line of vector with respect to mould
The rotational angle of the quasi- developing direction driven limits, and realizes that the mimicry for observing periphery Driving Scene to driver is imitated, provides and adopt
The Stringency that accurately diagram data method is verified with driver visual angle, improves the authenticity of verification result.
Step300, driving display window advance along driving path simulating vehicle, concrete configuration are as follows:
Step310, the intermediate road that the driving path is successively divided into multiple equal parts with the travel speed of simulating vehicle
Diameter.So, the method for the present embodiment is capable of the accuracy of piecewise verifying accurately diagram data, improves verifying precision.
Step320, driving display window successively advance along intermediate path simulating vehicle and drive simulating person observes three-dimensional and drives
Sail the road data in scene；Two start-stop endpoints of the present embodiment intermediate path, can as reconcile display window node,
Specifically:
It Step321, take two start-stop endpoints of intermediate path as observation node, the according to the observation three-dimensional driver training ground of node pair
Scape, for adjustment drive simulating person when intermediate path is advanced, drive simulating person visual angle is horizontally diverted angle or vertical pitch angle or water
The combination of flat steering angle and vertical pitch angle.
Step322, driving display window are driven in observation node with dummy level steering angle and the adjustment simulation of vertical pitch angle
The person of sailing visual angle.
Certainly, the present embodiment is divided into the reference of multiple intermediate paths to driving path, and it is faster to can be travel speed, in
Between path it is shorter；It is the cycle stability for guaranteeing adjustment drive simulating person visual angle as far as possible.
Step400, using the both ends of intermediate path as starting point, observe three-dimensional Driving Scene and simultaneously marked at the interface of display window
Infuse wrong data, concrete configuration are as follows:
Step410, three-dimensional Driving Scene identify wrong data after display window interface click wrong data；
Step420, interface generate an indicia framing including wrong data；
Step430, in indicia framing misregistration data details；
Step440, store indicia framing coordinate position and details to one modification database for engineering staff search and
Amendment.
In addition, the present embodiment is preferably configured in Step200, one is established in three-dimensional Driving Scene and is located at drive simulating
The display window of relative position between member's binocular.
Again or, the present embodiment is preferably configured in Step200, two are established in three-dimensional Driving Scene and is located at mould
The display window of quasi- driver's binocular coordinate；Two display windows establish drive simulating person visual angle jointly.
The present embodiment separately discloses a kind of accurately diagram data verifying system, comprising:
Display module is configured to load accurately diagram data, emulates three-dimensional Driving Scene；
Visual angle module, being configured to establish one in the three-dimensional Driving Scene of emulation, to be located at any monocular of drive simulating person opposite
The display window of position simultaneously drives display window to advance along driving path simulating vehicle；
Error logging module is configured to mark after observing three-dimensional Driving Scene discovery wrong data and stores wrong data.
In conclusion device and method of the present invention can under drive simulating person visual angle along driving path by height
Drive simulating is carried out under the three-dimensional Driving Scene that precision map datum is established, and finds and records accurately in drive simulating
The existing wrong data of diagram data is searched and is corrected for engineering staff.Through the above scheme, the present invention is intuitive, effectively right
Accurately diagram data is verified, compared with prior art scheme, improves the reasonability of verification efficiency and verification process.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of accurately diagram data verification method, is used in drive simulating with driver visual angle verify data, feature
It is, which comprises
Step100, accurately diagram data is loaded, establishes three-dimensional Driving Scene；
Step200, a display window for being located at any monocular relative position of drive simulating person is established in the three-dimensional Driving Scene
Mouthful；
Step300, the driving display window advance along driving path simulating vehicle；
Step400, drive simulating person observe the three-dimensional Driving Scene and the interface marking error data in the display window.
2. accurately diagram data verification method as described in claim 1, which is characterized in that
The Step200 is configured that
Step210, the starting point coordinate for loading or setting driving path in the three-dimensional Driving Scene,
Step220, one threshold value coordinate of superposition and starting point coordinate are the viewing coordinates of any monocular relative position of drive simulating person, institute
The center for stating display window is located at the viewing coordinates.
3. accurately diagram data verification method as claimed in claim 2, which is characterized in that
It is configured that after the Step220
Step230, an observation line of vector, the display window and the observation vector are established by originating point of the viewing coordinates
Line is vertical；
The direction of advance rotation angle of Step240, the observation line of vector and drive simulating are less than 90 degree.
4. accurately diagram data verification method as described in claim 1, which is characterized in that
The Step200 be configured to establish in the three-dimensional Driving Scene one between drive simulating person's binocular relative position
Display window.
5. accurately diagram data verification method as described in claim 1, which is characterized in that
The Step200, which is configured to establish two in the three-dimensional Driving Scene, is located at drive simulating person's binocular coordinate
Display window.
6. accurately diagram data verification method as described in claim 1, which is characterized in that
The Step300 is configured that
Step310, driving path is sequentially divided at least two intermediate paths；
Step320, the driving display window successively advance along intermediate path simulating vehicle and drive simulating person's observation described three
Tie up the road data in Driving Scene；
Step400, using the both ends of intermediate path as starting point, observe the three-dimensional Driving Scene and on the boundary of the display window
Face marking error data.
7. accurately diagram data verification method as claimed in claim 6, which is characterized in that
The Step310 is configured to that the driving path is divided into intermediate path with the travel speed of the simulating vehicle.
8. accurately diagram data verification method as claimed in claim 6, which is characterized in that
The Step320 is configured that
Step321, using the both ends of the intermediate path as point of observation, configuration drive simulating person visual angle be horizontally diverted angle and/or
Vertical pitch angle；
Step322, the driving display window the point of observation with it is described be horizontally diverted angle and the/vertical pitch angle be according to
According to adjustment direction of observation.
9. accurately diagram data method as described in claim 1, which is characterized in that
The Step400 is configured that
Step410, at the interface of display window the wrong data is clicked after the three-dimensional Driving Scene identification wrong data；
Step420, the interface generate an indicia framing including the wrong data；
Step430, the details that the wrong data is recorded in the indicia framing；
Step440, the coordinate position of the storage indicia framing and details modify database to one.
10. a kind of accurately diagram data verifies system, which is characterized in that the system comprises:
Display module is configured to the load accurately diagram data, emulates three-dimensional Driving Scene；
Visual angle module, being configured to establish one in the three-dimensional Driving Scene of emulation, to be located at any monocular of drive simulating person opposite
The display window of position simultaneously drives the display window to advance along driving path simulating vehicle；
Error logging module is configured to mark after observing the three-dimensional Driving Scene discovery wrong data and stores the error number
According to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810918620.1A CN109189872B (en) | 2018-08-13 | 2018-08-13 | High-precision map data verification device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810918620.1A CN109189872B (en) | 2018-08-13 | 2018-08-13 | High-precision map data verification device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109189872A true CN109189872A (en) | 2019-01-11 |
| CN109189872B CN109189872B (en) | 2021-06-04 |
Family
ID=64921191
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810918620.1A Active CN109189872B (en) | 2018-08-13 | 2018-08-13 | High-precision map data verification device and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109189872B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110276952A (en) * | 2019-06-27 | 2019-09-24 | 武汉中海庭数据技术有限公司 | A kind of traffic information analog acquisition method and device |
| WO2023046125A1 (en) * | 2021-09-26 | 2023-03-30 | 华为技术有限公司 | Map validity detection method and related product |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1178352A (en) * | 1996-08-09 | 1998-04-08 | 科乐美股份有限公司 | Artificial driving game machine and recording media having program for the game |
| CN101517371A (en) * | 2006-08-15 | 2009-08-26 | 通腾科技股份有限公司 | A method of generating improved map data for use in navigation devices |
| CN102037316A (en) * | 2008-10-07 | 2011-04-27 | 通腾科技股份有限公司 | Validating map data corrections |
| CN104764456A (en) * | 2008-10-07 | 2015-07-08 | 通腾科技股份有限公司 | Validating map data corrections |
| CN105320664A (en) * | 2014-06-12 | 2016-02-10 | 北京四维图新科技股份有限公司 | Method and device for modifying electronic map relational data |
| CN105953805A (en) * | 2016-04-29 | 2016-09-21 | 百度在线网络技术（北京）有限公司 | Method and device for verifying map |
| CN106525057A (en) * | 2016-10-26 | 2017-03-22 | 陈曦 | Generation system for high-precision road map |
| CN106875781A (en) * | 2017-03-16 | 2017-06-20 | 南京多伦科技股份有限公司 | A kind of intelligent robot trains auxiliary driving method and its system |
| CN107301799A (en) * | 2017-08-15 | 2017-10-27 | 科盾科技股份有限公司北京分公司 | A kind of method and apparatus of simulated training |
| CN107340772A (en) * | 2017-07-11 | 2017-11-10 | 清华大学 | It is a kind of towards the unpiloted reference locus planing method that personalizes |
| WO2018002910A1 (en) * | 2016-06-28 | 2018-01-04 | Cognata Ltd. | Realistic 3d virtual world creation and simulation for training automated driving systems |
| CN107544518A (en) * | 2017-10-17 | 2018-01-05 | 芜湖伯特利汽车安全系统股份有限公司 | The ACC/AEB systems and vehicle driven based on personification |
| CN107870755A (en) * | 2016-09-27 | 2018-04-03 | 通用汽车环球科技运作有限责任公司 | Vehicle window image display system and method |
| CN107958451A (en) * | 2017-12-27 | 2018-04-24 | 深圳普思英察科技有限公司 | Vision high accuracy map production method and device |
| CN108036794A (en) * | 2017-11-24 | 2018-05-15 | 华域汽车系统股份有限公司 | A kind of high accuracy map generation system and generation method |
| CN108121218A (en) * | 2017-11-20 | 2018-06-05 | 北京万相融通科技股份有限公司 | A kind of real-time control system based on three-dimensional artificial realistic picture |
| CN108124482A (en) * | 2015-06-08 | 2018-06-05 | 微软技术许可有限责任公司 | Addressable limited accass is functional on logon screen |
| CN108287786A (en) * | 2017-01-09 | 2018-07-17 | 北京四维图新科技股份有限公司 | A kind of automated testing method and device and hybrid navigation system based on map |
| CN108369743A (en) * | 2015-08-28 | 2018-08-03 | 帝国科技及医学学院 | Use multi-directional camera map structuring space |
| CN109213126A (en) * | 2018-09-17 | 2019-01-15 | 安徽江淮汽车集团股份有限公司 | Autonomous driving vehicle test macro and method |
| CN109696915A (en) * | 2019-01-07 | 2019-04-30 | 上海托华机器人有限公司 | A kind of test method and system |
-
2018
- 2018-08-13 CN CN201810918620.1A patent/CN109189872B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1178352A (en) * | 1996-08-09 | 1998-04-08 | 科乐美股份有限公司 | Artificial driving game machine and recording media having program for the game |
| CN101517371A (en) * | 2006-08-15 | 2009-08-26 | 通腾科技股份有限公司 | A method of generating improved map data for use in navigation devices |
| CN102037316A (en) * | 2008-10-07 | 2011-04-27 | 通腾科技股份有限公司 | Validating map data corrections |
| CN104764456A (en) * | 2008-10-07 | 2015-07-08 | 通腾科技股份有限公司 | Validating map data corrections |
| CN105320664A (en) * | 2014-06-12 | 2016-02-10 | 北京四维图新科技股份有限公司 | Method and device for modifying electronic map relational data |
| CN108124482A (en) * | 2015-06-08 | 2018-06-05 | 微软技术许可有限责任公司 | Addressable limited accass is functional on logon screen |
| CN108369743A (en) * | 2015-08-28 | 2018-08-03 | 帝国科技及医学学院 | Use multi-directional camera map structuring space |
| CN105953805A (en) * | 2016-04-29 | 2016-09-21 | 百度在线网络技术（北京）有限公司 | Method and device for verifying map |
| WO2018002910A1 (en) * | 2016-06-28 | 2018-01-04 | Cognata Ltd. | Realistic 3d virtual world creation and simulation for training automated driving systems |
| CN107870755A (en) * | 2016-09-27 | 2018-04-03 | 通用汽车环球科技运作有限责任公司 | Vehicle window image display system and method |
| CN106525057A (en) * | 2016-10-26 | 2017-03-22 | 陈曦 | Generation system for high-precision road map |
| CN108287786A (en) * | 2017-01-09 | 2018-07-17 | 北京四维图新科技股份有限公司 | A kind of automated testing method and device and hybrid navigation system based on map |
| CN106875781A (en) * | 2017-03-16 | 2017-06-20 | 南京多伦科技股份有限公司 | A kind of intelligent robot trains auxiliary driving method and its system |
| CN107340772A (en) * | 2017-07-11 | 2017-11-10 | 清华大学 | It is a kind of towards the unpiloted reference locus planing method that personalizes |
| CN107301799A (en) * | 2017-08-15 | 2017-10-27 | 科盾科技股份有限公司北京分公司 | A kind of method and apparatus of simulated training |
| CN107544518A (en) * | 2017-10-17 | 2018-01-05 | 芜湖伯特利汽车安全系统股份有限公司 | The ACC/AEB systems and vehicle driven based on personification |
| CN108121218A (en) * | 2017-11-20 | 2018-06-05 | 北京万相融通科技股份有限公司 | A kind of real-time control system based on three-dimensional artificial realistic picture |
| CN108036794A (en) * | 2017-11-24 | 2018-05-15 | 华域汽车系统股份有限公司 | A kind of high accuracy map generation system and generation method |
| CN107958451A (en) * | 2017-12-27 | 2018-04-24 | 深圳普思英察科技有限公司 | Vision high accuracy map production method and device |
| CN109213126A (en) * | 2018-09-17 | 2019-01-15 | 安徽江淮汽车集团股份有限公司 | Autonomous driving vehicle test macro and method |
| CN109696915A (en) * | 2019-01-07 | 2019-04-30 | 上海托华机器人有限公司 | A kind of test method and system |
Non-Patent Citations (2)
| Title |
|---|
| XIANG, H (XIANG, HUAIKUN);: "Research on Precise Positioning Algorithm of Intelligent and Connected Vehicles with High-Speed Moving", 《AMERICAN-SOCIETY-OF-CIVIL-ENGINEERS (ASCE) INTERNATIONAL CONFERENCE ON TRANSPORTATION AND DEVELOPMENT (ICTD)》 * |
| 孟凡婧: "自动变速车辆下坡换挡策略研究", 《汽车工程》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110276952A (en) * | 2019-06-27 | 2019-09-24 | 武汉中海庭数据技术有限公司 | A kind of traffic information analog acquisition method and device |
| CN110276952B (en) * | 2019-06-27 | 2020-11-27 | 武汉中海庭数据技术有限公司 | Traffic information simulation acquisition method and device |
| WO2023046125A1 (en) * | 2021-09-26 | 2023-03-30 | 华为技术有限公司 | Map validity detection method and related product |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109189872B (en) | 2021-06-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108303103A (en) | The determination method and apparatus in target track | |
| CN100504300C (en) | Method for recognizing non-gauged star map | |
| CN111912416B (en) | Method, device and equipment for positioning equipment | |
| CN103473774B (en) | A kind of vehicle positioning method based on pavement image characteristic matching | |
| CN107643086A (en) | A kind of vehicle positioning method, apparatus and system | |
| CN107798724A (en) | Automated vehicle 3D road models and lane markings define system | |
| CN103925927B (en) | A kind of traffic mark localization method based on Vehicular video | |
| CN104973092B (en) | A kind of rail subgrade settlement measurement method based on mileage and image measurement | |
| CN108253973A (en) | High-precision map and the associated method and apparatus of standard map and hybrid navigation method and apparatus | |
| CN111142525A (en) | High-precision map lane topology construction method and system, server and medium | |
| CN113255578B (en) | Traffic identification recognition method and device, electronic equipment and storage medium | |
| CN106295512A (en) | Many correction line indoor vision data base construction method based on mark and indoor orientation method | |
| WO2020199565A1 (en) | Street lamp pole-based vehicle posture correction method and device | |
| CN106296814A (en) | Highway maintenance detection and virtual interactive interface method and system | |
| CN109685855A (en) | A kind of camera calibration optimization method under road cloud monitor supervision platform | |
| CN105222806A (en) | A kind of carrier rocket double strapdown used group azimuth deviation caliberating device and method | |
| CN109214314B (en) | Automatic fusion matching algorithm for lane lines | |
| CN109426800A (en) | A kind of method for detecting lane lines and device | |
| CN109189872A (en) | Accurately diagram data verifies device and method | |
| CN105698784A (en) | Indoor robot positioning system and method | |
| CN107749957A (en) | Unmanned plane image display system and method | |
| CN109405850A (en) | A kind of the inertial navigation positioning calibration method and its system of view-based access control model and priori knowledge | |
| CN106409129A (en) | Road condition drawing method and road condition drawing device | |
| CN106767833A (en) | A kind of robot localization method of fusion RGBD depth transducers and encoder | |
| CN110018503A (en) | The localization method and positioning system of vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |