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Method and device for optimizing relative precision map, and storage medium

A technology of relative accuracy and absolute accuracy, which is applied to equipment and computer storage media to optimize relative accuracy maps. In the field of methods, it can solve the problems that it is difficult to determine the confidence of the map and the graph model cannot be optimized.

Active Publication Date: 2018-09-11
杭州易现先进科技有限公司
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Problems solved by technology

[0006] First, if figure 2 As shown, there is no closed-loop map collection data, and the existing graph model cannot be optimized
[0007] Second, if image 3 As shown, even if there is a closed-loop map collection data, if multiple batches of maps cross the same intersection, it is difficult to determine the confidence level of each batch of maps; It is still deformed, which poses a great challenge to subsequent map merging and updating

Method used

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  • Method and device for optimizing relative precision map, and storage medium
  • Method and device for optimizing relative precision map, and storage medium
  • Method and device for optimizing relative precision map, and storage medium

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Embodiment approach

[0087] According to an embodiment of the present invention, the method further includes: when it is detected that the search threshold is smaller than a predetermined threshold, stop iterative optimization and output an optimized pose graph model.

[0088] Through the two cut-off judgment conditions listed above, when the counted number of iterations reaches the threshold of iterations or the search threshold is less than the predetermined threshold, the iterative optimization is stopped and the optimized pose graph model is output, so as to realize the graph of the relative accuracy map. Model optimization.

[0089] The method for optimizing the relative accuracy map provided by the present invention is different from traditional methods such as figure 1 Compared to the pose graph model optimization shown, the overall non-closed-loop model can be optimized for map acquisition data.

[0090] Moreover, even if there are multiple batches of maps crossing the same intersection i...

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Abstract

The invention provides a method and device for optimizing a relative precision map, and a storage medium. The method comprises the steps: carrying out the absolute precision measurement of at least one key landmark in a specific environmental region, and obtaining the posture of at least one key landmark; constructing a relative precision map of the specific environmental region, and building a posture map model of the relative precision map, wherein the start point and end point of the posture map model are not coincided; and optimizing the posture map model through the posture of at least one key landmark.

Description

technical field [0001] The invention relates to graph model optimization technology, in particular to a method, device and computer storage medium for optimizing a relative precision map. Background technique [0002] In related technologies, there are many ways to construct maps, such as maps established by Simultaneous LocaLmzation And Mapping (SLAM) / Structure from Motion (SFM), and global satellite positioning, surveying and mapping Absolute precision maps obtained by other absolute measurement techniques. Among them, since there is no external measurement input (such as Global Positioning System (Global Positioning System, GPS)), it is difficult to determine the absolute accuracy of the map established by SLAM / SFM, so it is called a relative accuracy map. [0003] figure 1 Shown is the comparison effect diagram before and after optimization of the closed-loop graphical model in the related technology. The closed-loop pose graph model optimization scheme in the related...

Claims

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Application Information

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IPC IPC(8): G06T11/20G01C21/00G01S19/42
CPCG06T11/206G01C21/00G01S19/42
Inventor 王成丛林刘海伟
Owner 杭州易现先进科技有限公司
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