公开(公告)号：EP3614225A1

公开(公告)日：2020-02-26

申请号：EP19184311.9

申请日：2019-07-04

申请人： Baidu Online Network Technology (Beijing) Co., Ltd.

发明人： LI, Hao ,  WAN, Guowei ,  ZHOU, Yao ,  SONG, Shiyu ,  DONG, Fangfang

IPC分类号： G05D1/02 ,  G01C21/30 ,  G06T7/77 ,  G06T7/35

摘要： Embodiments of the present disclosure disclose a method and apparatus for positioning an autonomous vehicle. A specific embodiment of the method includes: matching a current point cloud projected image of a first resolution with a map of the first resolution to generate a first histogram filter based on the matching result; determining at least two first response areas in the first histogram filter based on a probability value of an element in the first histogram filter, the probability value of the element corresponding to the first response area being greater than a probability value of another element in the first histogram filter; generating a second histogram filter based on a result of matching a current point cloud projected image of a second resolution with a map of the second resolution and the at least two first response areas, the first resolution being less than the second resolution; and calculating a weighted average of probability values of target elements in the second histogram filter to determine a positioning result of the autonomous vehicle in the map of the second resolution. This embodiment reduces computing resources consumed for positioning an autonomous vehicle.