The invention discloses a parking map construction method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining panoramic image information according to an image shot by a vehicle-mounted camera on a vehicle; acquiring a visual raster map according to the panoramic image information; obtaining a point cloud picture according to the point cloud data output by the radar on the vehicle; obtaining a millimeter wave grid map according to the point cloud picture; and fusing the visual grid map and the millimeter wave grid map to obtain a parking map. The visual grid map and the millimeter wave grid map are fused through a fusion means to obtain the parking map, the defect that a camera cannot accurately obtain obstacle distance information is overcome, meanwhile, the defect that a radar sensor cannot accurately recognize obstacle category information is overcome, the accuracy of the parking map is improved, and the parking efficiency is improved. Therefore, the efficiency and accuracy of automatic parking are improved.

    本申请公开了一种泊车地图构建方法、装置、电子设备及存储介质,该泊车地图构建方法包括:根据车辆上的车载摄像头拍摄的图像,获得全景图像信息;根据所述全景图像信息获取视觉栅格地图;根据车辆上的雷达输出的点云数据,获得点云图;根据所述点云图获取毫米波栅格地图;将所述视觉栅格地图与所述毫米波栅格地图融合,得到泊车地图。通过融合手段将视觉栅格地图与毫米波栅格地图进行融合,获取泊车地图,不仅克服了摄像头无法准确获取障碍物距离信息的缺点,同时还克服了雷达传感器无法准确识别障碍物类别信息的缺点,提高了泊车地图的精准度,从而提高了自动泊车的效率以及准确性。


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    Title :

    Parking map construction method and device, electronic equipment and storage medium


    Additional title:

    泊车地图构建方法、装置、电子设备及存储介质


    Contributors:
    ZHONG LIYANG (author) / YAN LULU (author) / LI ZILONG (author) / HE QIAOJUN (author) / FU YING (author) / YU MENG (author)

    Publication date :

    2023-02-03


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06V / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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