公开(公告)号：US11668831B2

公开(公告)日：2023-06-06

申请号：US17137470

申请日：2020-12-30

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

Inventor： Wendong Ding ,  Fan Yi ,  Li Yu ,  Pengfei Yuan ,  Shiyu Song

IPC: G06K9/00 ,  G01S17/894 ,  G06T7/521 ,  G06T7/70 ,  G06V40/20 ,  G06V20/64 ,  G06V20/56 ,  G01S17/06

CPC classification number: G01S17/894 ,  G01S17/06 ,  G06T7/521 ,  G06T7/70 ,  G06V20/56 ,  G06V20/647 ,  G06V40/23 ,  G06T2207/10028 ,  G06T2207/30252

Abstract: The present application discloses a high-precision mapping method and device, which relates to the field of autonomous driving. A specific implementation includes: acquiring global initial poses of multiple point clouds, where the point clouds are point clouds of a location for which a map is to be built and are collected by a lidar using a multi-circle collection mode; dividing the multiple point clouds into multiple spatial submap graphs according to a spatial distribution relationship of the multiple point clouds; optimizing, for each spatial submap graph, global initial poses of point clouds belonging to the spatial submap graph to acquire global poses of the point clouds in each spatial submap graph; and stitching the multiple spatial submap graphs together according to global poses of the point clouds in the multiple spatial submap graphs to acquire a base graph of the map to be built.