公开(公告)号：US20230042968A1

公开(公告)日：2023-02-09

申请号：US17970285

申请日：2022-10-20

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

Inventor： Wendong Ding ,  Yingying Qin ,  Yangyang Dai ,  Yucheng Zhang ,  Liang Peng ,  Guowei Wan

IPC: G06T7/32 ,  G06T7/70 ,  G06T7/11 ,  G01S17/89

Abstract: A high-definition map creation method includes: obtaining point cloud data collected with respect to a target region, the point cloud data including K frames of point clouds and an initial pose of each frame of point cloud, K being an integer greater than 1; associating the K frames of point clouds with each other in accordance with the initial pose to obtain a first point cloud relation graph of the K frames of point clouds; performing point cloud registration on the K frames of point clouds in accordance with the first point cloud relation graph and the initial pose to obtain a target relative pose of each frame of point cloud in the K frames of point clouds; and splicing the K frames of point clouds in accordance with the target relative pose to obtain a point cloud map of the target region.

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.