The invention discloses a manifold-based pose correction method and device, and the method comprises the steps: obtaining the readings of an inertial measurement unit and a wheel speed meter which are disposed on a vehicle, and determining the coordinates and attitude angles of the central point of the vehicle in a world coordinate system at each moment; constructing a driving track of the vehicle, and mapping points of the driving track on a driving track surface to obtain a sparse point cloud of the driving track; constructing a manifold corresponding to the sparse point cloud; determining a ray formed by a focus of the surround-view camera and an IPM observation point on the IPM image; determining an intersection point of the ray and the track plane, and taking the intersection point as a correction observation point of the IPM image; and determining transformation parameters of transformation from the observation coordinate point to the correction observation point, and correcting the coordinate and the attitude angle. According to the scheme, it is guaranteed that the vehicle driving track obtained through fitting is consistent with reality. In addition, the six-degree-of-freedom pose can be actually observed through plane-based IPM observation, and observability and stability of a positioning result are guaranteed.

    本发明公开了一种基于流形的位姿矫正方法和装置,该方法包括:获取设置于车辆上的惯性测量单元和轮速计的读数,确定车辆中心点每一时刻在世界坐标系下的坐标和姿态角;构建车辆的行驶轨迹,并将行驶轨迹的点映射在行驶轨迹面上,得到行驶轨迹的稀疏点云;构建稀疏点云对应的流形;确定由环视相机的焦点和IPM图像上的IPM观测点构成的射线;确定射线和轨迹平面的交点,并将交点作为IPM图像的矫正观测点;确定观测坐标点变换到矫正观测点的变换参数,并矫正坐标和姿态角。本方案保证拟合得到的车辆行驶轨迹和实际一致。并且使得基于平面的IPM观测能够实际观测6自由度位姿,保证了定位结果的可观性和稳定性。


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    Title :

    Manifold-based pose correction method and device


    Additional title:

    一种基于流形的位姿矫正方法和装置


    Contributors:

    Publication date :

    2024-10-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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 / G01P MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK , Messen der Linear- oder Winkelgeschwindigkeit, der Beschleunigung, der Verzögerung oder des Stoßes



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