The invention discloses a memory parking positioning method, device and equipment and a medium, and the method comprises the steps: obtaining the pose of a vehicle relative to an initial position based on a vehicle body sensor; on the basis of the pose of the vehicle, sensing semantic information around the vehicle at the current moment is extracted, map matching is conducted on the sensing semantic information and map semantic information around the vehicle, and the pose difference between the sensing semantic information and the map semantic information is obtained; and based on the pose difference, correcting the pose to obtain an accurate pose. According to the invention, centimeter-level positioning capability, real-time parking space positioning point coordinates and robust position tracking can be provided, additional hardware cost is not increased, and the method is independent of a commercial high-precision map.
本申请公开了一种记忆泊车定位方法、装置、设备及介质,其方法包括:基于车体传感器,获取车辆相对于初始位置的位姿;基于该车辆的位姿,提取该车辆当前时刻周边的感知语义信息,并与该车辆周边的地图语义信息进行地图匹配,获取感知语义信息与地图语义信息的位姿差;基于该位姿差,对所述位姿进行修正,得到精确位姿。本申请可提供厘米级的定位能力,实时的车位定位点坐标,及鲁棒的位置跟踪,不额外增加硬件成本,不依赖商用高精度地图。
Memory parking positioning method, device, equipment and medium
一种记忆泊车定位方法、装置、设备及介质
2023-12-15
Patent
Electronic Resource
Chinese
IPC: | 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
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