The invention provides a vehicle pose processing method and device, electronic equipment and an automatic driving vehicle, and relates to the field of artificial intelligence, in particular to the field of automatic driving. According to the specific implementation scheme, initial pose information of a vehicle at different moments is constructed, the initial pose information comprises an initial position and an initial pose, and the initial position is represented by longitude, latitude and elevation; real-time poses of the vehicle at different moments are collected, and the real-time poses are obtained through sensing of a plurality of sensors on the vehicle; and optimizing the initial pose information based on the real-time poses collected at different moments to obtain target pose information. In the process of optimizing the initial pose information by constructing the initial pose information and utilizing a plurality of sensors on the vehicle to sense and obtain the real-time pose, the used coordinates are longitude and latitude, switching of coordinate systems does not need to be considered, the global consistency is effectively ensured, and the accuracy of the optimization of the initial pose information is improved. The problem that in the prior art, in vehicle pose optimization, the coordinate origin needs to be replaced, and resetting is conducted continuously is solved.
本公开提供了一种车辆位姿的处理方法、装置、电子设备和自动驾驶车辆,涉及人工智能领域,尤其涉及自动驾驶领域。具体实现方案为:构建车辆在不同时刻的初始位姿信息,其中,初始位姿信息包括:初始位置和初始姿态,初始位置采用经度、纬度和高程表示;采集车辆在不同时刻时的实时位姿,其中,实时位姿基于车辆上多个传感器感测得到;基于不同时刻时采集到的实时位姿对初始位姿信息进行优化,得到目标位姿信息。构建初始位姿信息,利用车辆上的多个传感器感测得到实时位姿对初始位姿信息进行优化的过程中,使用的坐标为经纬度,无需考虑坐标系的切换,有效地保证了全局一致性,解决了现有技术在车辆位姿优化中需要更换坐标原点、不断重置的问题。
Vehicle pose processing method and device, electronic equipment and automatic driving vehicle
车辆位姿的处理方法、装置、电子设备和自动驾驶车辆
2022-03-11
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06K Erkennen von Daten , RECOGNITION OF DATA |
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