公开(公告)号：US20220075026A1

公开(公告)日：2022-03-10

申请号：US17530696

申请日：2021-11-19

Applicant: Beijing Baidu Netcom Science Technology Co., Ltd.

Inventor： Qingqing XIE ,  Yanfu ZHANG ,  Jiali ZHANG ,  Meng YUAN

IPC: G01S7/48 ,  G01S17/89 ,  G06K9/62

Abstract: A lidar map-based loop detection method, an electronic device, and a storage medium, which are related to a field of intelligent transportation and a technical field of automatic driving. The specific implementation include: acquiring an eigenvector of each grid in each sub-map of N sub-maps of the lidar map; determining a target eigenvector of each grid in each sub-map of the N sub-maps according to the eigenvector of each grid in each sub-map of the N sub-maps; constructing histograms of the N sub-maps according to the target eigenvector of each grid in each sub-map of the N sub-maps; and determining that a loop relation exists between two target sub-maps in the N sub-maps, in case that a similarity of histograms of the two target sub-maps is greater than a preset threshold value.