The invention discloses a vision-based high-precision navigation feature map construction method, which comprises the following steps of: performing distance calculation based on a visual odometer and IMU (Inertial Measurement Unit) fusion by utilizing establishment elements and an association method of an automatic driving visual navigation feature map library, performing GPS (Global Positioning System) coarse positioning, and then matching current visual features with features of the map library; the GPS position is accurately positioned, and the problem of real-time errors of the positioning accuracy of the GPS is effectively solved.

    一种基于视觉的较高精度导航特征地图构建方法,利用自动驾驶视觉导航特征地图库的建立要素和关联方法,基于视觉里程计和IMU融合进行距离计算的视觉特征采集方法,基于GPS粗定位,然后根据当前视觉特征与地图库特征匹配,精确定位GPS位置,有效解决了GPS的定位精度实时误差的问题。


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    Title :

    Vision-based high-precision navigation feature map construction method


    Additional title:

    一种基于视觉的较高精度导航特征地图构建方法


    Contributors:
    WANG SHENGHUA (author) / WANG BENQIANG (author) / YIN QINGSHAN (author) / XIE CHAO (author) / GAO MING (author) / WANG JIANHUA (author)

    Publication date :

    2022-08-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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



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