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1.发明申请公开(公告)号：US20230134569A1
公开(公告)日：2023-05-04
申请号：US18088954
申请日：2022-12-27
Inventor： Yuzhe HE , Shenhua Hou , Yao Zhou , Liang Peng , Guowei Wan
Abstract: A positioning method based on a lane line and a feature point, an electronic device, and a storage medium, which relate to fields of computer, automatic driving, intelligent transportation, computer vision. The method may include: determining first real-time measurement residuals according to first sensor information of a movable object detected, the first real-time measurement residuals including a first inertial measurement unit measurement residual, a first lane line measurement residual and a first non-lane line measurement residual; updating a state vector of the movable object according to a kinematic model of an inertial measurement unit and the first real-time measurement residuals; and determining a pose of the movable object at a time instant corresponding to the updated state vector according to a pose vector in the updated state vector.
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公开(公告)号：US12270659B2
公开(公告)日：2025-04-08
申请号：US17950799
申请日：2022-09-22
Inventor： Xiangyu Fu , Guowei Wan , Yao Zhou , Liang Peng
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.
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