CN109857111B - 基于共享slam地图的高精度定位方法及系统 - Google Patents
基于共享slam地图的高精度定位方法及系统 Download PDFInfo
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- CN109857111B CN109857111B CN201910119444.XA CN201910119444A CN109857111B CN 109857111 B CN109857111 B CN 109857111B CN 201910119444 A CN201910119444 A CN 201910119444A CN 109857111 B CN109857111 B CN 109857111B
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- 238000000034 method Methods 0.000 title claims abstract description 68
- 239000011159 matrix material Substances 0.000 claims description 55
- 230000009466 transformation Effects 0.000 claims description 29
- 238000001514 detection method Methods 0.000 claims description 6
- 230000001131 transforming effect Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 7
- 238000006243 chemical reaction Methods 0.000 description 28
- 230000006870 function Effects 0.000 description 13
- 238000010586 diagram Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 230000007613 environmental effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Images
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Electromagnetism (AREA)
- Navigation (AREA)
- Instructional Devices (AREA)
Abstract
Description
Claims (10)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910119444.XA CN109857111B (zh) | 2019-02-18 | 2019-02-18 | 基于共享slam地图的高精度定位方法及系统 |
EP19916277.7A EP3885866A4 (en) | 2019-02-18 | 2019-06-28 | HIGH ACCURACY LOCALIZATION METHOD AND SYSTEM BASED ON COMMON SLAM MAP |
PCT/CN2019/093533 WO2020168667A1 (zh) | 2019-02-18 | 2019-06-28 | 基于共享slam地图的高精度定位方法及系统 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910119444.XA CN109857111B (zh) | 2019-02-18 | 2019-02-18 | 基于共享slam地图的高精度定位方法及系统 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109857111A CN109857111A (zh) | 2019-06-07 |
CN109857111B true CN109857111B (zh) | 2020-11-13 |
Family
ID=66898080
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910119444.XA Active CN109857111B (zh) | 2019-02-18 | 2019-02-18 | 基于共享slam地图的高精度定位方法及系统 |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3885866A4 (zh) |
CN (1) | CN109857111B (zh) |
WO (1) | WO2020168667A1 (zh) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109857111B (zh) * | 2019-02-18 | 2020-11-13 | 广州小鹏汽车科技有限公司 | 基于共享slam地图的高精度定位方法及系统 |
CN110262516A (zh) * | 2019-07-17 | 2019-09-20 | 深圳市英博超算科技有限公司 | 具有自动驾驶功能的车辆、方法以及装置 |
CN110446164B (zh) * | 2019-07-23 | 2021-05-04 | 达闼机器人有限公司 | 移动终端定位方法、装置、移动终端和服务器 |
CN110517531B (zh) * | 2019-09-05 | 2021-08-17 | 武汉中海庭数据技术有限公司 | 一种基于高精度地图数据的多层停车场定位方法 |
CN111738281B (zh) * | 2020-08-05 | 2020-12-22 | 鹏城实验室 | 同时定位与建图系统及其地图软切换方法、存储介质 |
US11568649B2 (en) | 2021-01-15 | 2023-01-31 | Continental Automotive Systems, Inc. | Landmark-less simultaneous localization and mapping |
CN113218385B (zh) * | 2021-05-24 | 2022-05-27 | 周口师范学院 | 基于slam的高精度车辆定位方法 |
CN115587151A (zh) * | 2021-07-05 | 2023-01-10 | 灵动科技(北京)有限公司 | 用于车辆的使用共享slam地图的方法和装置 |
CN114360093B (zh) * | 2021-12-31 | 2024-03-08 | 江苏鸣实纯钧科技有限公司 | 基于北斗rtk、slam定位和图像分析的路侧停车位巡检方法 |
Family Cites Families (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101639360B (zh) * | 2009-08-21 | 2012-03-07 | 肖湘萍 | 导航平台和导航系统 |
CN103674011B (zh) * | 2012-09-19 | 2017-07-25 | 联想(北京)有限公司 | 即时定位与地图构建设备、系统与方法 |
US9668146B2 (en) * | 2014-04-25 | 2017-05-30 | The Hong Kong University Of Science And Technology | Autonomous robot-assisted indoor wireless coverage characterization platform |
US9478029B2 (en) * | 2014-10-23 | 2016-10-25 | Qualcomm Incorporated | Selection strategy for exchanging map information in collaborative multi-user SLAM systems |
KR101965296B1 (ko) * | 2016-11-30 | 2019-04-19 | 연세대학교 산학협력단 | 파티클 간에 지도를 공유하는 이동체의 위치 추정 및 지도 작성 방법 및 장치 |
WO2018119889A1 (zh) * | 2016-12-29 | 2018-07-05 | 深圳前海达闼云端智能科技有限公司 | 三维场景定位方法和装置 |
WO2018126215A1 (en) * | 2016-12-30 | 2018-07-05 | DeepMap Inc. | High definition map updates |
CN106931963A (zh) * | 2017-04-13 | 2017-07-07 | 高域(北京)智能科技研究院有限公司 | 环境数据共享平台、无人飞行器、定位方法和定位系统 |
CN107246868B (zh) * | 2017-07-26 | 2021-11-02 | 上海舵敏智能科技有限公司 | 一种协同导航定位系统及导航定位方法 |
CN107818592B (zh) * | 2017-11-24 | 2022-04-01 | 北京华捷艾米科技有限公司 | 协作式同步定位与地图构建的方法、系统及交互系统 |
CN108759844B (zh) * | 2018-06-07 | 2021-11-16 | 科沃斯商用机器人有限公司 | 机器人重定位与环境地图构建方法、机器人及存储介质 |
CN109059941B (zh) * | 2018-07-06 | 2019-11-29 | 禾多科技(北京)有限公司 | 特征地图构建方法、视觉定位方法及对应装置 |
CN109857111B (zh) * | 2019-02-18 | 2020-11-13 | 广州小鹏汽车科技有限公司 | 基于共享slam地图的高精度定位方法及系统 |
-
2019
- 2019-02-18 CN CN201910119444.XA patent/CN109857111B/zh active Active
- 2019-06-28 EP EP19916277.7A patent/EP3885866A4/en not_active Ceased
- 2019-06-28 WO PCT/CN2019/093533 patent/WO2020168667A1/zh active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2020168667A1 (zh) | 2020-08-27 |
EP3885866A4 (en) | 2022-01-26 |
CN109857111A (zh) | 2019-06-07 |
EP3885866A1 (en) | 2021-09-29 |
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Address after: 510000 No.8 Songgang street, Cencun, Tianhe District, Guangzhou City, Guangdong Province Applicant after: GUANGZHOU XPENG AUTOMOBILE TECHNOLOGY Co.,Ltd. Address before: 510555 245, room nine, Jianshe Road 333, Guangzhou knowledge city, Guangzhou, Guangdong. Applicant before: GUANGZHOU XPENG AUTOMOBILE TECHNOLOGY Co.,Ltd. |
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EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20190607 Assignee: Zhaoqing Xiaopeng New Energy Investment Co.,Ltd. Assignor: GUANGZHOU XIAOPENG MOTORS TECHNOLOGY Co.,Ltd. Contract record no.: X2021990000645 Denomination of invention: High precision positioning method and system based on shared slam map Granted publication date: 20201113 License type: Common License Record date: 20211018 |
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