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Positioning method, positioning device and storage medium

A positioning device and positioning method technology, applied in the direction of measuring devices, satellite radio beacon positioning systems, image enhancement, etc., can solve the problems of low positioning accuracy and large error accumulation, and achieve high-precision positioning, low cost, and low cost Effect

Active Publication Date: 2019-12-27
BEIJING DIDI INFINITY TECH & DEV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

When using visual SLAM for positioning, relatively high positioning accuracy can be achieved in a scene with a small space, but there will still be a large error accumulation in a scene with a large space, resulting in low positioning accuracy

Method used

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  • Positioning method, positioning device and storage medium
  • Positioning method, positioning device and storage medium
  • Positioning method, positioning device and storage medium

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Embodiment Construction

[0054] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0055] Precise positioning and navigation is one of the core technologies for applications such as autonomous driving, robotics, and mobile measurement. Currently, GNSS and high-precision INS are widely used for positioning. Through INS, the multipath effect of GNSS and the influence of signal shielding can be overcome to a certain extent. Therefore, when positioning through GNSS and high-precision INS, the positioning accuracy is high, but the cost is high. In re...

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Abstract

The invention provides a positioning method, a positioning device and a storage medium. The method comprises the following steps: obtaining the pose of the positioning device at a first moment and animage collected at a second moment; obtaining attribute information of a first road element in an image field angle range in a preset map database according to the pose of the positioning device at the first moment, and extracting attribute information of a second road element in the image collected at the second moment; and comparing the attribute information of the first road element with the attribute information of the second road element, and determining the pose of the positioning device at the second moment. Low-cost and high-precision positioning can be realized through the positioningmethod, the positioning device and the storage medium.

Description

technical field [0001] The present invention relates to positioning technology, in particular to a positioning method, device and storage medium. Background technique [0002] Precise positioning and navigation is one of the core technologies for applications such as autonomous driving, robotics, and mobile measurement. At present, the global navigation satellite system (Global Navigation Satellite System, GNSS) and the high-precision inertial navigation system (Inertial Navigation System, INS) are widely used for positioning. Through INS, the multipath effect of GNSS and the influence of signal shielding can be overcome to a certain extent. Therefore, when positioning through GNSS and high-precision INS, the positioning accuracy is high, but the cost is high. [0003] In recent years, with the development of visual sensors and the continuous advancement of Simultaneous Localization and Mapping (SLAM) technology, visual SLAM has emerged as the times require. When using vis...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/26G01C11/04G01C21/16G01C21/20G01S19/48
CPCG01C21/26G01C21/20G01C11/04G01C21/165G01S19/485G01C21/30G01C11/06G06T7/73G06T2207/30244G06T2207/30256G01C21/32G01C21/3461G01C21/3602G06V20/56
Inventor 屈孝志许杰马腾李保利
Owner BEIJING DIDI INFINITY TECH & DEV
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