The invention discloses an environmental traffic target positioning method and system, a medium and equipment, and the method comprises the following steps: obtaining pre-stored high-precision map information, and extracting map key point information in the pre-stored high-precision map information; identifying actual traffic information corresponding to the pre-stored high-precision map information to obtain initial positioning information, and extracting visual key point information in the initial positioning information; performing point cloud registration on the map key point information and the visual key point information based on an ICP point cloud registration algorithm to obtain an optimal transformation parameter; updating the optimal transformation parameter based on a preset pose threshold value; correcting visual key point information in the initial positioning information according to the updated optimal transformation parameter to obtain final positioning information; therefore, the problem of environmental traffic target positioning precision reduction caused by environmental factors can be solved.
本发明公开了一种环境交通目标定位方法、系统、介质及设备,其方法包括以下步骤:获取预存高精地图信息,并提取所述预存高精地图信息中的地图关键点信息;对与所述预存高精地图信息对应的实际交通信息进行识别获取初始定位信息,并提取所述初始定位信息中的视觉关键点信息;基于ICP点云配准算法对所述地图关键点信息与所述视觉关键点信息进行点云配准,获取最优变换参数;基于预设位姿阈值更新所述最优变换参数;根据更新后的最优变换参数对所述初始定位信息中的视觉关键点信息进行修正,获取最终定位信息;因此可解决环境因素导致的环境交通目标定位精度下降问题。
Environmental traffic target positioning method, system, medium and equipment
环境交通目标定位方法、系统、介质及设备
2023-04-04
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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