CN110186468A - High-precision map production method and producing device for automatic Pilot - Google Patents
High-precision map production method and producing device for automatic Pilot Download PDFInfo
- Publication number
- CN110186468A CN110186468A CN201910446879.5A CN201910446879A CN110186468A CN 110186468 A CN110186468 A CN 110186468A CN 201910446879 A CN201910446879 A CN 201910446879A CN 110186468 A CN110186468 A CN 110186468A
- Authority
- CN
- China
- Prior art keywords
- road
- information
- precision map
- data
- automatic pilot
- 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
- 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
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Databases & Information Systems (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Instructional Devices (AREA)
- Processing Or Creating Images (AREA)
- Navigation (AREA)
- Image Processing (AREA)
Abstract
The application provides a kind of high-precision map production method and producing device for automatic Pilot, and method includes: to take the photograph equipment shooting road image using boat, and obtain POS data when boat takes the photograph equipment shooting road image；Road image is handled using photogrammetric technology, obtains data elevation model data and digital orthoimage；Digital elevation model and digital orthoimage are handled, road geometry information, road attribute information and transverse and longitudinal face information are obtained；Road topology is constructed according to the geological information of road, obtains road topology information, it is final that the road geometry information obtained, topology information, road attribute information and transverse and longitudinal face information is combined to make high-precision map.In the application method, because boat is taken the photograph equipment and is aloft shot to road, it is possible to conveniently take road overall picture, be not in the problem of being blocked in data collecting vehicle acquisition data procedures by Adjacent vehicles.
Description
Technical field
This application involves field of navigation technology, and in particular to a kind of high-precision map production method for automatic Pilot and
Device.
Background technique
In automatic Pilot field, automatic driving vehicle is examined according to high-precision map (precision reaches Centimeter Level) and sensor
The driving path and power output of the surrounding signals planning vehicle measured.Therefore, high-precision map is to realize safety automation
The important technology of driving.
Currently, the initial data of production high-precision map is collected during road driving by data collecting vehicle.But
It is that the acquisition process of initial data has following problems: (1) because link characteristics and road vehicle limit, the acquisition of data collecting vehicle
It can not be in strict accordance with the road driving of default planning when data；(2) because Adjacent vehicles block or signal irregular reflection,
Data collecting vehicle can not the subregional environmental characteristic data of acquisition unit, or obtain no correct display portion provincial characteristics
Environmental characteristic data；(3) time-consuming in the acquisition of data collecting vehicle, higher cost.
Summary of the invention
The application provides a kind of high-precision map production method and producing device for automatic Pilot, passes through other side
Method production is accurately schemed, and avoids acquiring the road data problem using data collecting vehicle.
The application provides a kind of high-precision map production method for automatic Pilot, comprising:
Equipment shooting road image is taken the photograph using boat, and obtains the POS number for navigating and taking the photograph when equipment shoots the road image
According to；
The road image is handled using photogrammetric technology, obtains Law of DEM Data and digital orthoimage；
The digital orthoimage is handled, road geometry information, road attribute information are obtained；Handle the digital elevation mould
Type obtains transverse and longitudinal face information；
Road topology is constructed according to the POS data, the road geometry information, road topology information is obtained, in conjunction with institute
State road geometry information, the road attribute information, the road topology information and the production of transverse and longitudinal face information accurately
Figure.
Optionally, the road geometry information includes the coordinate data of the lane line；
The road attribute information includes the attribute of the lane line；
Transverse and longitudinal face information, head fall and lateral superelevation including the road.
Optionally, the digital orthoimage is handled, road geometry information and road attribute information are obtained, comprising:
The digital orthoimage is handled using Hough transformation method, obtains the road geometry information and the road category
Property information.
Optionally, road topology is constructed according to the POS data, the road geometry information, obtains road topology information,
Include:
The curvature, course angle and lane center of the road are calculated according to the POS data, the road geometry information
Line.
Optionally, equipment shooting road image is taken the photograph using boat, comprising:
Equipment is taken the photograph using the unmanned plane delivery boat and shoots the road image.
The application provides a kind of high-precision map producing device for automatic Pilot, comprising:
Boat takes the photograph equipment, for shooting road image；
Aircraft takes the photograph equipment for delivering the boat；
Positioning and directing equipment, for obtaining the POS data navigated and taken the photograph when equipment shoots the road image；
First processing module, for handling the road image using photogrammetric technology, obtain digital elevation model and
Digital orthoimage；
Second processing module handles the digital orthoimage, obtains road geometry information, road attribute information；And
The digital elevation model is handled, transverse and longitudinal face information is obtained；
Cartography module, the POS data, the road geometry information construct road topology, obtain road topology letter
Breath makes in conjunction with the road geometry information, the road attribute information, the road topology information and transverse and longitudinal face information
High-precision map.
Optionally, the road geometry information includes the coordinate data of the lane line；
The road attribute information includes the attribute of the lane line；
Transverse and longitudinal face information, head fall and lateral superelevation including the road.
Optionally, the Second processing module handles the digital orthoimage using Hough transformation method, described in acquisition
Road geometry information and the road attribute information.
Optionally, road topology is constructed according to the POS data, the road geometry information, obtains road topology information,
Include:
The curvature, course angle and lane center of the road are calculated according to the POS data, the road geometry information
Line.
Optionally, the aircraft is unmanned plane.
In accurately picture capturing method provided by the present application, initial data is the road image that boat takes the photograph equipment shooting, is obtained
Even if the process of high-precision map elements is taken to carry out the process of processing and elemental recognition, coordinate identification to the road image taken photo by plane.
Because boat is taken the photograph equipment and is aloft shot to road, it is possible to conveniently take road overall picture, be not in number
The problem of according to being blocked in collecting vehicle acquisition data procedures by Adjacent vehicles.In addition, being surveyed because being carried without DATA REASONING vehicle
Amount data are shot on true road surface, as long as therefore weather condition and light conditions allow, it can carry out road image
The acquisition of data substantially increases the efficiency of data acquisition, saves the time.
Detailed description of the invention
Fig. 1 is the flow chart for the high-precision map production method for automatic Pilot that embodiment provides；
Fig. 2 is the structural schematic diagram for the high-precision map producing device for automatic Pilot that embodiment provides；
Wherein: 11-, which navigates, takes the photograph equipment, 12- aircraft, 13- positioning and directing equipment, 14- first processing module, at 15- second
Manage module, 16- cartography module.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to related invention is illustrated only in attached drawing.
Fig. 1 is the flow chart for the high-precision map production method for automatic Pilot that embodiment provides.As shown in Figure 1,
Method provided by the embodiments of the present application includes step S101-S104.
S101: taking the photograph equipment shooting road image using boat, and obtains POS data when boat takes the photograph equipment shooting road image.
It is not to carry various sensors using data collecting vehicle to carry in road traveling acquisition use in the embodiment of the present application
In the data for forming high-precision map, but equipment is taken the photograph in high-altitude shooting road image as forming high-precision map using boat
Data.
Specifically, boat is taken the photograph equipment and delivered by aircraft to certain altitude, shot when with aircraft according to certain track flight
Road forms road image.Also, boat takes the photograph the optical axis of equipment and the angle of horizontal plane at 90 degree or so, preferably remains 90
Degree.Optical axis above-mentioned is the central axis that boat takes the photograph eyeglass in the camera lens of equipment.
When aircraft delivery boat takes the photograph equipment shooting road image, while obtaining POS number when shooting each road image
According to.
In the embodiment of the present application, in order to realize the acquisition of high accuracy data, using unmanned plane delivery boat take the photograph equipment away from
Lower position shoots road from the ground.
Specifically, can be planned according to the map of general precision before unmanned plane delivery boat takes the photograph equipment shooting road image
The flight path of unmanned plane；Meanwhile influence of the equipment image distortion to post-processing is taken the photograph in order to reduce boat, when unmanned plane during flying,
The corresponding shooting area for taking the photograph equipment that navigates in adjacent course line has certain sidelapping.In concrete application, sidelapping degree is most
It is not less than 60% well.
Likewise, take the photograph influence of the equipment image distortion to post-processing to reduce boat, when unmanned plane during flying, flight speed
Degree and boat are taken the photograph between equipment capture rate and should be matched, so that the image that boat takes the photograph equipment shooting reaches certain ship's control.
In concrete application, ship's control is preferably not less than 70%.
In the embodiment of the present application, the flying speed of unmanned plane is in addition to considering sidelapping degree and ship's control above-mentioned
Outside, it is also necessary to consider ambient wind velocity.
Positioning and orientation system (Position and Orientation System, POS) is as machine in aerophotogrammetry
Reference sensor is carried, mainly by Inertial Measurement Unit (Inertial Measurement Unit, IMU), satellite navigation system
GPS and POS system computer composition, can obtain the navigation informations such as position, posture, the speed of carrier in real time, be widely used in
Digital photography camera measurement in aerophotogrammetry.
In the embodiment of the present application specific implementation, the positioning and orientation system in unmanned plane can use real-time dynamic carrier difference
Technology (RTK) or Dynamic post-treatment technology (PPK) improve the precision of navigator fix.
S102: handling the road image using photogrammetric technology, obtains Law of DEM Data and number is just penetrated
Image.
S103: handling the digital orthoimage, obtains road geometry information, road attribute information；Handle the number
Elevation model obtains transverse and longitudinal face information.
The element of high-precision map includes the transverse and longitudinal face letter of the lane line geological information of road, attribute information and road
Breath；Therefore, to the processing of digital elevation model and digital orthoimage, the mainly identification to element above-mentioned and specific location
The calculating of coordinate and scale data.
It wherein, is the geological information for obtaining lane line, the coordinate data and category of lane line to the processing of digital orthoimage
Property data；Wherein attribute data includes the actual situation property of lane line, the color of lane line, the speed limit of lane grade and the class in lane
Type (all Ordinary Rd, intersection, special screne road or other types in this way)；Processing to digital elevation model is
Calculate the head fall and transverse direction ultra high data of road.
In the application specific implementation, digital orthoimage can be handled using the method for Hough transformation, realize vehicle
The extraction of the geological information and attribute information of diatom, to realize the Quick Acquisition of corresponding data.
S104: road topology is constructed according to the POS data, the road geometry information, road topology information is obtained, ties
It is high-precision to close the road geometry information, the road attribute information, the road topology information and the production of transverse and longitudinal face information
Spend map.
In S104, it is to carry out topological combination for data obtained in S103, forms high-precision map.It is specifically answered at one
In, two sub-steps are segmented into for building road topology, first is that the road geometry information, right in each road image
The corresponding high-precision map of transverse and longitudinal face information architecture for the coordinate data and road answered；Then, it is determined not further according to POS data
With the positional relationship of road image, to realize the splicing of corresponding data in adjacent road image.In aforementioned process, need to lead to
The identifying processing to edge data is crossed, to realize the splicing of corresponding data.
In another concrete application, can according to POS data, lane line data and corresponding coordinate data, and
The transverse and longitudinal face information of road directly carries out road topology, forms high-precision map；In the process, need to lane line data into
Row delete processing, to avoid the redundancy of data.
In concrete application, building road topology further includes according to POS data and lane line data and corresponding coordinate data
Calculate curvature, course angle and the road axis of road.
Pass through preceding method, it can obtain meeting OpenDrive standard, namely meet the application of automatic Pilot standard
High-precision map.
It is contemplated that the high-precision map obtained using preceding method, initial data is the road shadow that boat takes the photograph equipment shooting
Picture, even if the process for obtaining high-precision map elements carries out processing and elemental recognition, coordinate setting to the road image taken photo by plane
Process.Because boat is taken the photograph equipment and is aloft shot to road, it is possible to conveniently take road overall picture, will not go out
The problem of being blocked in existing data collecting vehicle acquisition data procedures by Adjacent vehicles, and because emergency case changes drive route and
And the problem of introducing large error, improve the precision of last cartography.In addition, because without the carrying of data collecting vehicle
Measuring device is shot on true road surface, as long as therefore weather condition and light conditions allow, it can carry out road shadow
As the acquisition of data, the efficiency of data acquisition is substantially increased, the time is saved, improves information collecting efficiency.
Other than providing and being previously described for the high-precision map production method of automatic Pilot, the embodiment of the present application also provides one
Kind is used for the high-precision map production method of automatic Pilot.Fig. 2 is the high-precision map for automatic Pilot that embodiment provides
The structural schematic diagram of producing device.Aforementioned device includes that boat takes the photograph equipment 11, aircraft 12, the processing of positioning and directing equipment 13, first
Module 14, Second processing module 15 and cartography module 16.
Boat takes the photograph equipment 11 for shooting road image；When shooting road image, boat takes the photograph the optical axis and horizontal plane of equipment 11
Generally 90 degree of angle；And aircraft 12 then takes the photograph equipment 11 for delivering boat, realizes that boat takes the photograph bat of the equipment 11 in high-altitude to road
It takes the photograph.
Positioning and directing equipment 13, for obtaining POS data when boat takes the photograph the shooting road image of equipment 11；
First processing module 14 obtains digital elevation model sum number for handling road image using photogrammetric technology
Word orthography；
Second processing module 15 handles digital orthoimage, obtains road geometry information, road attribute information；And place
Digital elevation model is managed, transverse and longitudinal face information is obtained；
Cartography module 16, POS data, road geometry information construct road topology, obtain road topology information, in conjunction with
Road geometry information, road attribute information, road topology information and transverse and longitudinal face information make high-precision map.
Optionally, road geometry information includes the coordinate data of lane line；
Road attribute information includes the attribute of lane line；
Transverse and longitudinal face information, head fall and lateral superelevation including road.
Optionally, Second processing module 15 handles digital orthoimage using Hough transformation method, obtains road geometry letter
Breath and road attribute information.
Optionally, road topology is constructed according to POS data, road geometry information, obtains road topology information, comprising:
Curvature, course angle and the lane center of road are calculated according to POS data, road geometry information.
Optionally, aircraft 12 is unmanned plane.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from foregoing invention design, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above and disclosed herein but be not limited to similar functions
Technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of high-precision map production method for automatic Pilot characterized by comprising
Equipment shooting road image is taken the photograph using boat, and obtains the POS data navigated and taken the photograph when equipment shoots the road image；
The road image is handled using photogrammetric technology, obtains Law of DEM Data and digital orthoimage；
The digital orthoimage is handled, road geometry information, road attribute information are obtained；The digital elevation model is handled,
Obtain transverse and longitudinal face information；
Road topology is constructed according to the POS data, the road geometry information, road topology information is obtained, in conjunction with the road
Road geological information, the road attribute information, the road topology information and transverse and longitudinal face information make high-precision map.
2. the high-precision map production method according to claim 1 for automatic Pilot, it is characterised in that:
The road geometry information includes the coordinate data of the lane line；
The road attribute information includes the attribute of the lane line；
Transverse and longitudinal face information, head fall and lateral superelevation including the road.
3. the high-precision map production method according to claim 1 for automatic Pilot, which is characterized in that described in processing
Digital orthoimage obtains road geometry information and road attribute information, comprising:
The digital orthoimage is handled using Hough transformation method, obtains the road geometry information and road attribute letter
Breath.
4. the high-precision map production method according to claim 1 for automatic Pilot, which is characterized in that according to described
POS data, the road geometry information construct road topology, obtain road topology information, comprising:
The curvature, course angle and lane center of the road are calculated according to the POS data, the road geometry information.
5. the high-precision map production method according to claim 1 for automatic Pilot, which is characterized in that taken the photograph using boat
Equipment shoots road image, comprising:
Equipment is taken the photograph using the unmanned plane delivery boat and shoots the road image.
6. a kind of high-precision map producing device for automatic Pilot characterized by comprising
Boat takes the photograph equipment, for shooting road image；
Aircraft takes the photograph equipment for delivering the boat；
Positioning and directing equipment, for obtaining the POS data navigated and taken the photograph when equipment shoots the road image；
First processing module obtains digital elevation model and number for handling the road image using photogrammetric technology
Orthography；
Second processing module handles the digital orthoimage, obtains road geometry information, road attribute information；And processing
The digital elevation model obtains transverse and longitudinal face information；
Cartography module, the POS data, the road geometry information construct road topology, obtain road topology information, tie
It is high-precision to close the road geometry information, the road attribute information, the road topology information and the production of transverse and longitudinal face information
Spend map.
7. the high-precision map producing device according to claim 6 for automatic Pilot, which is characterized in that
The road geometry information includes the coordinate data of the lane line；
The road attribute information includes the attribute of the lane line；
Transverse and longitudinal face information, head fall and lateral superelevation including the road.
8. the high-precision map producing device according to claim 7 for automatic Pilot, which is characterized in that
The Second processing module handles the digital orthoimage using Hough transformation method, obtains the road geometry information
With the road attribute information.
9. the high-precision map producing device according to claim 6 for automatic Pilot, which is characterized in that according to described
POS data, the road geometry information construct road topology, obtain road topology information, comprising:
The curvature, course angle and lane center of the road are calculated according to the POS data, the road geometry information.
10. the high-precision map producing device according to claim 6 for automatic Pilot, it is characterised in that:
The aircraft is unmanned plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910446879.5A CN110186468B (en) | 2019-05-27 | 2019-05-27 | High-precision map making method and device for automatic driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910446879.5A CN110186468B (en) | 2019-05-27 | 2019-05-27 | High-precision map making method and device for automatic driving |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110186468A true CN110186468A (en) | 2019-08-30 |
| CN110186468B CN110186468B (en) | 2021-11-12 |
Family
ID=67718038
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910446879.5A Active CN110186468B (en) | 2019-05-27 | 2019-05-27 | High-precision map making method and device for automatic driving |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110186468B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110517533A (en) * | 2019-09-29 | 2019-11-29 | 武汉中海庭数据技术有限公司 | A kind of autonomous parking method and system |
| CN111256713A (en) * | 2020-03-20 | 2020-06-09 | 东风汽车集团有限公司 | Auxiliary method and auxiliary system for automatic driving of vehicle |
| CN111639625A (en) * | 2020-06-11 | 2020-09-08 | 中国人民解放军32023部队 | Automatic extraction method for unmanned aerial vehicle ortho-image road |
| CN112254737A (en) * | 2020-10-27 | 2021-01-22 | 北京晶众智慧交通科技股份有限公司 | Map data conversion method |
| CN113312435A (en) * | 2020-02-27 | 2021-08-27 | 武汉四维图新科技有限公司 | High-precision map updating method and device |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060111818A1 (en) * | 2004-08-06 | 2006-05-25 | Japan Aerospace Exploration Agency | Low-noise flight support system |
| US20070239648A1 (en) * | 2006-03-20 | 2007-10-11 | Microsoft Corporation | Adaptive engine for processing geographic data |
| CN104101357A (en) * | 2013-04-08 | 2014-10-15 | 现代Mnsoft公司 | Navigation system and method for displaying photomap on navigation system |
| CN105022405A (en) * | 2015-07-16 | 2015-11-04 | 杨珊珊 | Street view map production method, control server, unmanned aerial vehicle and production device |
| US20150338515A1 (en) * | 2014-05-20 | 2015-11-26 | Bae Systems Information And Electronic Systems Integration Inc. | Automated Track Projection Bias Removal Using Frechet Distance and Road Networks |
| CN106097444A (en) * | 2016-05-30 | 2016-11-09 | 百度在线网络技术（北京）有限公司 | High-precision map generates method and apparatus |
| CN106249758A (en) * | 2016-09-21 | 2016-12-21 | 江西天祥通用航空股份有限公司 | A kind of determination method and system of airplane spray route |
| CN107016645A (en) * | 2017-04-05 | 2017-08-04 | 云南电网有限责任公司电力科学研究院 | A kind of transmission of electricity corridor aerial photograph joining method based on LAS |
| CN107272734A (en) * | 2017-06-13 | 2017-10-20 | 深圳市易成自动驾驶技术有限公司 | Unmanned plane during flying task executing method, unmanned plane and computer-readable recording medium |
| CN107330380A (en) * | 2017-06-14 | 2017-11-07 | 千寻位置网络有限公司 | Lane line based on unmanned plane image is automatically extracted and recognition methods |
| CN107531326A (en) * | 2015-03-12 | 2018-01-02 | 奈庭吉尔智慧系统公司 | Automate UAS |
| CN108871353A (en) * | 2018-07-02 | 2018-11-23 | 上海西井信息科技有限公司 | Road network map generation method, system, equipment and storage medium |
| CN109240314A (en) * | 2018-11-09 | 2019-01-18 | 百度在线网络技术（北京）有限公司 | Method and apparatus for acquiring data |
| US20190072982A1 (en) * | 2017-09-07 | 2019-03-07 | Embraer S.A. | Safe takeoff system |
| CN109443369A (en) * | 2018-08-20 | 2019-03-08 | 北京主线科技有限公司 | The method for constructing sound state grating map using laser radar and visual sensor |
| CN109472864A (en) * | 2017-09-07 | 2019-03-15 | 广州极飞科技有限公司 | A kind of generation method and device of elevation tile map |
| US20190082650A1 (en) * | 2016-03-10 | 2019-03-21 | Senecio Ltd. | Mission planner for the aerial release of mosquitoes |
| CN109658504A (en) * | 2018-10-31 | 2019-04-19 | 百度在线网络技术（北京）有限公司 | Map datum mask method, device, equipment and storage medium |
-
2019
- 2019-05-27 CN CN201910446879.5A patent/CN110186468B/en active Active
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060111818A1 (en) * | 2004-08-06 | 2006-05-25 | Japan Aerospace Exploration Agency | Low-noise flight support system |
| US20070239648A1 (en) * | 2006-03-20 | 2007-10-11 | Microsoft Corporation | Adaptive engine for processing geographic data |
| CN104101357A (en) * | 2013-04-08 | 2014-10-15 | 现代Mnsoft公司 | Navigation system and method for displaying photomap on navigation system |
| US20150338515A1 (en) * | 2014-05-20 | 2015-11-26 | Bae Systems Information And Electronic Systems Integration Inc. | Automated Track Projection Bias Removal Using Frechet Distance and Road Networks |
| CN107531326A (en) * | 2015-03-12 | 2018-01-02 | 奈庭吉尔智慧系统公司 | Automate UAS |
| CN105022405A (en) * | 2015-07-16 | 2015-11-04 | 杨珊珊 | Street view map production method, control server, unmanned aerial vehicle and production device |
| US20190082650A1 (en) * | 2016-03-10 | 2019-03-21 | Senecio Ltd. | Mission planner for the aerial release of mosquitoes |
| CN106097444A (en) * | 2016-05-30 | 2016-11-09 | 百度在线网络技术（北京）有限公司 | High-precision map generates method and apparatus |
| CN106249758A (en) * | 2016-09-21 | 2016-12-21 | 江西天祥通用航空股份有限公司 | A kind of determination method and system of airplane spray route |
| CN107016645A (en) * | 2017-04-05 | 2017-08-04 | 云南电网有限责任公司电力科学研究院 | A kind of transmission of electricity corridor aerial photograph joining method based on LAS |
| CN107272734A (en) * | 2017-06-13 | 2017-10-20 | 深圳市易成自动驾驶技术有限公司 | Unmanned plane during flying task executing method, unmanned plane and computer-readable recording medium |
| CN107330380A (en) * | 2017-06-14 | 2017-11-07 | 千寻位置网络有限公司 | Lane line based on unmanned plane image is automatically extracted and recognition methods |
| US20190072982A1 (en) * | 2017-09-07 | 2019-03-07 | Embraer S.A. | Safe takeoff system |
| CN109472864A (en) * | 2017-09-07 | 2019-03-15 | 广州极飞科技有限公司 | A kind of generation method and device of elevation tile map |
| CN108871353A (en) * | 2018-07-02 | 2018-11-23 | 上海西井信息科技有限公司 | Road network map generation method, system, equipment and storage medium |
| CN109443369A (en) * | 2018-08-20 | 2019-03-08 | 北京主线科技有限公司 | The method for constructing sound state grating map using laser radar and visual sensor |
| CN109658504A (en) * | 2018-10-31 | 2019-04-19 | 百度在线网络技术（北京）有限公司 | Map datum mask method, device, equipment and storage medium |
| CN109240314A (en) * | 2018-11-09 | 2019-01-18 | 百度在线网络技术（北京）有限公司 | Method and apparatus for acquiring data |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110517533A (en) * | 2019-09-29 | 2019-11-29 | 武汉中海庭数据技术有限公司 | A kind of autonomous parking method and system |
| CN113312435A (en) * | 2020-02-27 | 2021-08-27 | 武汉四维图新科技有限公司 | High-precision map updating method and device |
| CN113312435B (en) * | 2020-02-27 | 2023-06-06 | 武汉四维图新科技有限公司 | High-precision map updating method and equipment |
| CN111256713A (en) * | 2020-03-20 | 2020-06-09 | 东风汽车集团有限公司 | Auxiliary method and auxiliary system for automatic driving of vehicle |
| CN111639625A (en) * | 2020-06-11 | 2020-09-08 | 中国人民解放军32023部队 | Automatic extraction method for unmanned aerial vehicle ortho-image road |
| CN111639625B (en) * | 2020-06-11 | 2022-09-27 | 中国人民解放军32023部队 | Automatic extraction method for unmanned aerial vehicle ortho-image road |
| CN112254737A (en) * | 2020-10-27 | 2021-01-22 | 北京晶众智慧交通科技股份有限公司 | Map data conversion method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110186468B (en) | 2021-11-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110186468A (en) | High-precision map production method and producing device for automatic Pilot | |
| CN106441319B (en) | A kind of generation system and method for automatic driving vehicle lane grade navigation map | |
| CN109324337B (en) | Unmanned aerial vehicle route generation and positioning method and device and unmanned aerial vehicle | |
| CN109946732A (en) | A kind of unmanned vehicle localization method based on Fusion | |
| CN110057373A (en) | For generating the method, apparatus and computer storage medium of fine semanteme map | |
| US10970924B2 (en) | Reconstruction of a scene from a moving camera | |
| JP5227065B2 (en) | 3D machine map, 3D machine map generation device, navigation device and automatic driving device | |
| CN109446973B (en) | Vehicle positioning method based on deep neural network image recognition | |
| CN110160542A (en) | The localization method and device of lane line, storage medium, electronic device | |
| CN107229063A (en) | A kind of pilotless automobile navigation and positioning accuracy antidote merged based on GNSS and visual odometry | |
| CN106352867A (en) | Method and apparatus for determining a vehicle ego-position | |
| CN112904395B (en) | Mining vehicle positioning system and method | |
| CN106352872B (en) | A kind of unmanned plane autonomous navigation system and its air navigation aid | |
| CN101241011A (en) | High precision positioning and posture-fixing device on laser radar platform and method | |
| CN104360362B (en) | Method and system for positioning observed object via aircraft | |
| CN105843249A (en) | Unmanned aerial vehicle automatic navigation system based on Pixhawk flight control and navigation method thereof | |
| KR102239562B1 (en) | Fusion system between airborne and terrestrial observation data | |
| CN111426320A (en) | Vehicle autonomous navigation method based on image matching/inertial navigation/milemeter | |
| CN106292126A (en) | A kind of intelligence aerial survey flight exposal control method, unmanned aerial vehicle (UAV) control method and terminal | |
| CN110388939A (en) | One kind being based on the matched vehicle-mounted inertial navigation position error modification method of Aerial Images | |
| CN115657706B (en) | Landform measurement method and system based on unmanned aerial vehicle | |
| CN108681337A (en) | A kind of culvert or the special inspection unmanned plane of bridge and unmanned plane visiting method | |
| CN107272037A (en) | A kind of road equipment position, image information collecting device and the method for gathering information | |
| CN113469045A (en) | Unmanned card-collecting visual positioning method and system, electronic equipment and storage medium | |
| CN115202383B (en) | Unmanned aerial vehicle multidimensional track expression and generation method |
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 |