The invention relates to an automatic parking positioning method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: acquiring a data point set of a calibration plate in an east-north-sky coordinate system and a point cloud coordinate set corresponding to the data point set in a laser radar coordinate system; inputting the data point set and the point cloud coordinate set into a pre-constructed calibration algorithm processing model to obtain a conversion matrix; obtaining a vector error value between the plane normal vector and a ground real normal vector, and under the condition that the vector error value is smaller than a preset value, converting the point cloud of the multiple laser radars into a northeast-sky coordinate system according to the conversion matrix to obtain a spliced point cloud; preprocessing the spliced point cloud, and synthesizing a target parking lot map of the parking lot according to the preprocessed spliced point cloud; and obtaining a coordinate value of the current vehicle in the target parking lot map, and taking the coordinate value of the current vehicle as an actual positioning result of the current vehicle in the parking lot. By adopting the method, the parking efficiency of the pilotless automobile can be improved.
本申请涉及一种自动泊车定位方法、装置、计算机设备、存储介质和计算机程序产品。该方法包括:获取标定板在东北天坐标系下的数据点集和数据点集在激光雷达坐标系下对应的点云坐标集;将数据点集和点云坐标集输入预先构建的标定算法处理模型,得到转换矩阵;获取平面法向量与地面真实法向量之间的向量误差值,在向量误差值小于预设值的情况下,根据转换矩阵,将多激光雷达的点云转换到东北天坐标系下,得到拼接点云;对拼接点云进行预处理,根据预处理后的拼接点云,合成停车场的目标停车场地图;获取当前车辆在目标停车场地图中的坐标值,将当前车辆的坐标值作为当前车辆在停车场的实际定位结果。采用本方法,能够提高无人驾驶汽车的泊车效率。
Automatic parking positioning method and device, computer equipment and storage medium
自动泊车定位方法、装置、计算机设备和存储介质
2023-06-30
Patent
Elektronische Ressource
Chinesisch
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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