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公开(公告)号：US10782410B2
公开(公告)日：2020-09-22
申请号：US15800260
申请日：2017-11-01
发明人： Li Yu , Shichun Yi , Shiyu Song , Fangfang Dong , Baoqiang Xu
摘要： In a specific implementation of the method a reflectance map is constructed based on a position and an Euler angle, obtained through a global optimization and used for constructing a reflectance map, of a center of a laser radar corresponding to each frame laser point cloud used for constructing the reflectance map collected in each collection region. This implementation implements the level-by-level pose optimization of laser point clouds used for constructing a reflectance map that are collected in each collection region in an excessively large region, to obtain an accurate position and Euler angle, used for constructing the reflectance map, of a laser radar center corresponding to each frame laser point cloud used for constructing the reflectance map.
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公开(公告)号：US10402999B2
公开(公告)日：2019-09-03
申请号：US15724945
申请日：2017-10-04
发明人： Shichun Yi , Cheng Wang , Li Yu , Shiyu Song , Fangfang Dong
摘要： The present disclosure discloses a method, apparatus and server for constructing a map. An embodiment of the method comprises: building a point cloud data frame sequence using point cloud data frames acquired in real time; extracting morphological data from the point cloud data frames; establishing a spatial position relation between the morphological data of two adjacent point cloud data frames in the point cloud data frame sequence; determining a reference spatial position relation corresponding to a stationary object based on the spatial position relation, and constructing a map with the reference spatial position relation. The present embodiment realizes constructing a map with the point cloud data.
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公开(公告)号：US20180341820A1
公开(公告)日：2018-11-29
申请号：US15891184
申请日：2018-02-07
发明人： Li Yu , Cheng Wang , Shiyu Song , Fangfang Dong
CPC分类号： G06K9/00798 , G01S7/4808 , G01S17/023 , G01S17/42 , G01S17/48 , G01S17/89 , G01S17/936 , G06K9/2036
摘要： The present disclosure discloses a method and apparatus for acquiring information. A specific embodiment of the method includes: collecting characteristic information of a road object, the characteristic information comprising: a position, in a world coordinate system, of laser points corresponding to the road object in a laser point cloud collected in an area where the road object is located, and a position in a reflectance map corresponding to a position of a control point of the road object in the world coordinate system; and determining whether a preset accuracy is acceptable based on a match between the characteristic information of the road object and a preset characteristic information of the road object, the preset accuracy comprising: a splicing accuracy of the spliced laser point cloud, an accuracy of the reflectance map, and an accuracy of the high-precision map.
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公开(公告)号：US20180306922A1
公开(公告)日：2018-10-25
申请号：US15882131
申请日：2018-01-29
发明人： Guowei WAN , Hao Wang , Shiyu Song , Baoqiang Xu
CPC分类号： G01S17/42 , G01S17/023 , G01S17/89 , G01S19/42 , G05D1/024
摘要： The present application discloses a method and apparatus for positioning a vehicle. An implementation of the method comprises: obtaining laser point cloud data of a laser point cloud collected by a laser radar on a vehicle, and obtaining an initial pose of a center point of the laser radar; calculating a matching probability between projection data corresponding to each sampling pose and map data of a reflected value map respectively; and calculating an optimal pose based on the matching probability between the projection data corresponding to the each sampling pose and the map data of the reflected value map, and determining a position of the vehicle based on the optimal pose.
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公开(公告)号：US11121912B2
公开(公告)日：2021-09-14
申请号：US16509353
申请日：2019-07-11
发明人： Xiangyu Fu , Jie Huang , Renlan Cai , Shiyu Song , Fangfang Dong
摘要： A method and an apparatus for processing information are provided. A method may include: sending a preset data acquisition request to a target data transmission end included in at least two preset data transmission ends; receiving feedback information from the target data transmission end, and determining whether the feedback information includes the acquired data; determining, in response to determining that the feedback information does not include the acquired data, whether the feedback information includes first fault information for indicating that the target data transmission end malfunctions; and selecting, in response to determining that the feedback information includes the first fault information, a data transmission end other than the target data transmission end from the at least two data transmission ends as a new target data transmission end.
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公开(公告)号：US11080919B2
公开(公告)日：2021-08-03
申请号：US16353717
申请日：2019-03-14
发明人： Li Yu , Shiyu Song
IPC分类号： G06T15/04
摘要： Embodiments of the present disclosure relate to a method, apparatus, device and computer readable storage medium for reconstructing a three-dimensional scene. The method for reconstructing a three-dimensional scene includes acquiring a point cloud data frame set for a three-dimensional scene, point cloud data frames in the point cloud data frame set respectively having a pose parameter. The method further comprises determining a subset corresponding to a part of the three-dimensional scene from the point cloud data frame set. The method further comprises adjusting a pose parameter of a point cloud data frame in the subset to obtain an adjusted subset, the adjusted subset including at least two point cloud data frames having matching overlapping parts. The method further comprises updating the point cloud data frame set using the adjusted subset. In this way, distributed processing on a large amount of point cloud data may be realized.
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公开(公告)号：US10655982B2
公开(公告)日：2020-05-19
申请号：US15784908
申请日：2017-10-16
发明人： Weilin Peng , Li Yu , Shengpan Xu , Hailong Tian , Shiyu Song , Fangfang Dong
摘要： Disclosed embodiments include a method and a device for generating position information of a target object. In some embodiments, the method comprises: obtaining target point cloud data of the target object, acquired by a target scanner at a target position, and position information of the target scanner, and obtaining reference point cloud data of the target object, acquired by a reference scanner at a reference position, and position information and an Euler angle of the reference scanner; obtaining an Euler angle of the target scanner based on the target point cloud data, the reference point cloud data, and the Euler angle of the reference scanner; and generating the position information of the target object based on the target point cloud data, the position information and the Euler angle of the target scanner, the reference point cloud data, and the position information and the Euler angle of the reference scanner.
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公开(公告)号：US20190056501A1
公开(公告)日：2019-02-21
申请号：US15800260
申请日：2017-11-01
发明人： Li Yu , Shichun Yi , Shiyu Song , Fangfang Dong , Baoqiang Xu
摘要： A specific implementation of the method includes: constructing a reflectance map based on a position and an Euler angle, obtained through a global optimization and used for constructing a reflectance map, of a center of a laser radar corresponding to each frame laser point cloud used for constructing the reflectance map collected in each collection region. This implementation implements the level-by-level pose optimization of laser point clouds used for constructing a reflectance map that are collected in each collection region in an excessively large region, to obtain an accurate position and Euler angle, used for constructing the reflectance map, of a laser radar center corresponding to each frame laser point cloud used for constructing the reflectance map, so that accurate coordinates of laser points in each frame laser point cloud used for constructing the reflectance map in a world coordinate system may be obtained.
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公开(公告)号：US10162358B2
公开(公告)日：2018-12-25
申请号：US15282984
申请日：2016-09-30
发明人： Shiyu Song , Wenbo Li , Tianlei Zhang
摘要： Disclosed embodiments include an unmanned vehicle, a method, apparatus and system for positioning an unmanned vehicle. In some embodiments, the method includes: acquiring first laser point cloud height value data matching a current position of the unmanned vehicle, the first laser point cloud height value data; converting the first laser point cloud height value data into laser point cloud projection data in a horizontal earth plane; determining a first matching probability of the laser point cloud projection data in a predetermined range of a laser point cloud height value map; and determining a position of the unmanned vehicle in the laser point cloud height value map based on the first matching probability. The embodiment implements an accurate positioning on the current position of the unmanned vehicle.
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公开(公告)号：US11486713B2
公开(公告)日：2022-11-01
申请号：US16508259
申请日：2019-07-10
发明人： Hao Li , Guowei Wan , Yao Zhou , Shiyu Song , Fangfang Dong
摘要： Embodiments of the present disclosure disclose a method and apparatus for positioning an autonomous vehicle. 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; 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.
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