The invention provides a commercial vehicle automatic parking method based on visual SLAM and UWB perception fusion. The commercial vehicle automatic parking method comprises the following steps: S1, obtaining a panoramic monitoring image when a commercial vehicle is backed up and parked; s2, acquiring map basic data; s3, constructing a global storage map; according to the commercial vehicle automatic garage entering method based on visual SLAM and UWB perception fusion, four look-around cameras are assembled in the front direction, the rear direction, the left direction and the right direction of a commercial vehicle body respectively, real-time monitoring images in the four directions when the commercial vehicle enters the garage are obtained, and after the real-time monitoring images in the four directions are subjected to inverse transformation processing, the real-time monitoring images in the four directions are obtained. The images are integrated into one image to obtain a real-time panoramic monitoring image; the sensing range is increased while the 3D picture is obtained, and the problems that distortion exists in the environment picture around the vehicle on the 360-degree all-round splicing effect, and part of the environment is lost at the splicing position are solved.
本发明提供一种基于视觉SLAM和UWB感知融合的商用车自动入库方法,包括以下步骤:S1:获取商用车倒车入库时的全景监控图像;S2:获取地图基础数据;S3:构建全局入库地图;本发明提出的一种基于视觉SLAM和UWB感知融合的商用车自动入库方法,通过将四个环视相机分别装配在商用车车身的前后左右四个方向,获取商用车入库时四个方向的实时监控图像,将四个方向的实时监控图像经过逆变换处理后,整合到一张图像中,得到实时全景监控图像;得到3D画面的同时增加了感知范围,解决了360环视拼接效果上车辆周围的环境画面存在畸变,拼接处存在部分环境丢失的问题。
Commercial vehicle automatic parking method based on visual SLAM and UWB perception fusion
一种基于视觉SLAM和UWB感知融合的商用车自动入库方法
2024-01-23
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen / H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze |
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