Provided are a method, device, and computer program for localizing an autonomous driving vehicle using a low-capacity NDT map. The method for localizing an autonomous driving vehicle using a low-capacity NDT map according to various embodiments of the present invention is executed by a computing device and may comprise the steps of: collecting 3D point clouds for a prescribed area; and localizing an autonomous driving vehicle using the collected 3D point clouds and a capacity normal distribution transform (NDT) map generated in correspondence with the prescribed area.
L'invention concerne un procédé, un dispositif et un programme informatique pour localiser un véhicule à conduite autonome à l'aide d'une carte NDT de faible capacité. Le procédé de localisation d'un véhicule à conduite autonome à l'aide d'une carte NDT de faible capacité selon divers modes de réalisation de la présente invention est exécuté par un dispositif informatique et peut comprendre les étapes consistant à : collecter des nuages de points 3D pour une zone prescrite ; et localiser un véhicule à conduite autonome à l'aide des nuages de points 3D collectés et d'une carte de transformée de distribution normale (NDT) de capacité générée en correspondance avec la zone prescrite.
저용량 NDT 지도를 이용한 자율주행 차량의 측위 방법, 장치 및 컴퓨터프로그램이 제공된다. 본 발명의 다양한 실시예에 따른 저용량 NDT 지도를 이용한 자율주행 차량의 측위 방법은 컴퓨팅 장치에 의해 수행되는 저용량 NDT 지도를 이용한 자율주행 차량의 측위 방법에 있어서, 소정의 지역에 대한 3D 포인트 클라우드를 수집하는 단계 및 상기 소정의 지역에 대응하여 기 생성된 저용량 NDT(Normal Distribution Transform) 지도와 상기 수집된 3D 포인트 클라우드를 이용하여 자율주행 차량에 대한 측위를 수행하는 단계를 포함한다.
METHOD, DEVICE, AND COMPUTER PROGRAM FOR LOCALIZING AUTONOMOUS DRIVING VEHICLE USING LOW-CAPACITY NDT MAP
PROCÉDÉ, DISPOSITIF ET PROGRAMME INFORMATIQUE POUR LOCALISER UN VÉHICULE À CONDUITE AUTONOME À L'AIDE D'UNE CARTE NDT DE FAIBLE CAPACITÉ
저용량 NDT 지도를 이용한 자율주행 차량의 측위 방법, 장치 및 컴퓨터프로그램
2024-04-11
Patent
Elektronische Ressource
Koreanisch
IPC: | 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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