公开(公告)号：US11624827B2

公开(公告)日：2023-04-11

申请号：US16459687

申请日：2019-07-02

Applicant: APOLLO INTELLIGENT DRIVING TECHNOLOGY(BEIJING) CO., LTD.

Inventor： Li Yu ,  Shiyu Song ,  Fangfang Dong

IPC: G01S17/89 ,  G06T7/73 ,  G01C21/26 ,  G01S7/48

Abstract: A method and an apparatus for generating a high precision map, and a storage medium for generating a high precision map. The method includes: performing a point cloud splicing process on target point cloud data to obtain a lidar pose corresponding to the target point cloud data; projecting the target point cloud data into a preset two-dimensional area based on the lidar pose to generate a map based on a reflection value and a height value; performing a self-positioning verification on the map based on the reflection value and the height value using the target point cloud data; and integrating, if a result of the self-positioning verification satisfies a preset condition, the map based on the reflection value and the height value into a reference map to generate the high precision map.