The invention relates to the technical field of automatic driving, in particular to a pose estimation method and device, a vehicle and a storage medium, and the method comprises the steps: collecting laser point cloud data of the surrounding environment of the vehicle; screening ground point cloud data from the laser point cloud data, performing grid division on the ground point cloud data, performing downsampling processing on the point cloud data in each grid, and calculating a score of the point cloud data in each grid; and based on the score of the point cloud data in each grid, screening out grid point cloud data of which the score is greater than a preset score, and performing calculation according to the grid point cloud data to obtain the pose of the laser radar. Therefore, by carrying out downsampling on the grids, improving the algorithm efficiency and carrying out statistics from multiple dimensions, ground noise points can be well filtered out, the problems of unstable ground pose estimation and large errors in different scenes are solved through the screened grid point cloud computing laser radar pose, and it is ensured that the fitting ground precision is relatively high.

    本申请涉及自动驾驶技术领域,特别涉及一种位姿估计方法、装置、车辆及存储介质,其中,方法包括:采集车辆周围环境的激光点云数据;从激光点云数据中筛选出地面点云数据,并对地面点云数据进行栅格划分,且对每个栅格中的点云数据进行降采样处理后,计算每个栅格中点云数据的评分;基于每个栅格中点云数据的评分,筛选出评分大于预设分值的栅格点云数据,并根据栅格点云数据计算得到激光雷达的位姿。由此,通过对栅格进行降采样,提高算法效率,并从多个维度进行统计可以很好的过滤掉地面的噪声点,并通过筛选后的栅格点云计算激光雷达位姿解决不同场景下地面位姿估计不稳定,误差大的问题,确保拟合的地面精度较高。


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    Titel :

    Pose estimation method and device, vehicle and storage medium


    Weitere Titelangaben:

    位姿估计方法、装置、车辆及存储介质


    Beteiligte:
    LIU LEI (Autor:in) / QIAN SHAOHUA (Autor:in)

    Erscheinungsdatum :

    2023-09-26


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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