公开(公告)号：US20230100734A1

公开(公告)日：2023-03-30

申请号：US17950799

申请日：2022-09-22

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

Inventor： Xiangyu FU ,  Guowei WAN ,  Yao ZHOU ,  Liang PENG

IPC: G01C21/30 ,  G06T7/73

Abstract: Exemplary positioning method and apparatus, a device, a system, a medium and a self-driving vehicle are provided. The positioning method includes determining, according to the current frame of point cloud data collected by a to-be-positioned terminal in a travelling environment, the current key point in the current frame of point cloud data and a point cloud distribution feature of the current key point; selecting, according to point cloud distribution features associated with reference key points in a global positioning map and the point cloud distribution feature of the current key point, a target key point matching the current key point from the reference key points; and determining, according to reference pose data associated with the target key point, the current pose data of the to-be-positioned terminal.