Techniques for determining a location of a vehicle in an environment using a sensor and determining calibration information associated with the sensor are discussed herein. The vehicle may traverse the environment using map data. The map data may include semantic map objects, such as traffic lights, lane markings, etc. A vehicle may capture sensor data using a sensor, such as an image sensor. Semantic map objects may be projected into the sensor data and matched to objects in the sensor data. Such semantic objects may be represented as center point and covariance data. Distances or possibilities associated with the projected semantic map object and the sensed object may be optimized to determine the location of the vehicle. Based on a match to the semantic map object, it may be determined that the sensed objects are identical. The epipolar geometry may be used to determine whether the sensor is capturing consistent data.

    本文讨论了用于使用传感器确定在环境中车辆的位置以及确定与传感器相关联的校准信息的技术。车辆可以使用地图数据穿越环境。地图数据可以包括语义地图对象,例如交通灯、车道标线等。车辆可以使用诸如图像传感器的传感器来捕获传感器数据。语义地图对象可以被投影到传感器数据中并且与传感器数据中的对象匹配。这样的语义对象可以被表示为中心点和协方差数据。可以优化与投影的语义地图对象和感测对象相关联的距离或可能性以确定车辆的位置。基于与语义地图对象的匹配,可以确定感测对象是相同的。对极几何可以用于确定传感器是否正在捕获一致的数据。


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    Title :

    Semantic object-based localization


    Additional title:

    基于语义对象的定位


    Contributors:

    Publication date :

    2023-06-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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