The invention discloses a parking positioning method and device, and the method comprises the steps: obtaining a vehicle parking top view, employing a pre-trained feature segmentation model to segment a parking feature from the parking top view, the parking feature being a basic element forming a ground identifier, the basic element being a graph which is composed of at least two line segments and has a geometrical shape, and matching the parking features segmented from the parking top view with a pre-constructed memory map to obtain the pose information of the parking top view, and further determining the pose information of the vehicle according to the relative position relationship between the vehicle and the parking top view and the pose information of the parking top view. Therefore, the pre-constructed memory map only contains the parking features and the parking feature poses, the occupied storage space is small, the data positioning efficiency is improved, the parking features are basic elements which are easy to recognize and form the ground identifier, and the positioning accuracy is improved.
本发明公开了一种泊车定位方法及装置,包括:获取车辆泊车俯视图,采用预先训练的特征分割模型从泊车俯视图中分割出泊车特征,泊车特征为构成地面标识的基本元素,该基本元素是由至少两条线段组成的具备几何形状的图形,将从泊车俯视图中分割出的泊车特征与预先构建的记忆地图进行匹配,得到泊车俯视图的位姿信息,进而根据车辆与泊车俯视图的相对位置关系以及泊车俯视图的位姿信息确定车辆的位姿信息。由此,预先构建的记忆地图只包含泊车特征和泊车特征位姿,占用的存储空间小,提高了进行数据定位的效率,且泊车特征为易于识别的构成地面标识的基本元素,提升了定位的准确度。
Parking positioning method and device
一种泊车定位方法及装置
2022-03-01
Patent
Electronic Resource
Chinese
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