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High-precision mapping and positioning method utilizing combination of vehicle-mounted Lidar and unmanned aerial vehicle

A positioning method, the technology of unmanned aerial vehicles, applied in the direction of using re-radiation, radio wave measurement system, measurement device, etc.

Active Publication Date: 2020-07-28
WUHAN ZHONGHAITING DATA TECH CO LTD +1
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Solved the registration problem of vehicle lidar point cloud data and UAV data

Method used

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  • High-precision mapping and positioning method utilizing combination of vehicle-mounted Lidar and unmanned aerial vehicle
  • High-precision mapping and positioning method utilizing combination of vehicle-mounted Lidar and unmanned aerial vehicle
  • High-precision mapping and positioning method utilizing combination of vehicle-mounted Lidar and unmanned aerial vehicle

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Embodiment Construction

[0115] In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the examples. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0116] In the prior art, the vehicle-mounted lidar data and the UAV image data cannot be included in the same geographic coordinate frame, and there is a registration difference between the image and the point cloud.

[0117] Aiming at the problems existing in the prior art, the present invention provides a high-precision mapping and positioning method using the combination of vehicle-mounted Lidar and UAV. The present invention will be described in detail below in conjunction with the accompanying drawings.

[0118] Such as figure 1 As shown, the embodiment of the present invention provides a high-precision mapping and p...

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Abstract

The invention belongs to the technical field of spatial data processing and positioning and discloses a high-precision mapping and positioning method based on the combination of a vehicle-mounted Lidar and an unmanned aerial vehicle. The method comprises the following steps of: acquiring a control surface element, performing feature point extraction on unmanned aerial vehicle images subjected to initial orientation processing, performing feature matching between the images, acquiring homonymous feature points between the unmanned aerial vehicle images, and performing gross error elimination onmismatched points by utilizing a robust estimation method; establishing a one-to-many or one-to-one mapping relationship between feature surface elements and feature points on the unmanned aerial vehicle images; and performing refining calculation on the unmanned aerial vehicle images and camera external parameters through bundle adjustment iteration so as to obtain high-precision azimuth elements and parameters. The method is high in speed and high in precision; the absolute positioning precision of the method is improved to be within the plane of 5cm and the elevation of 10cm through outfield control point checking; and a low-cost technical solution is provided for obtaining a high-precision map through the combination of the unmanned aerial vehicle and the Lidar.

Description

technical field [0001] The invention belongs to the technical field of spatial data processing and positioning, and in particular relates to a high-precision mapping and positioning method utilizing a vehicle-mounted Lidar and an unmanned aerial vehicle. Background technique [0002] At present, with the gradual arrival of the 5G era, the relevant technologies of unmanned driving technology are becoming more and more mature, and autonomous driving will gradually occupy a place in the country's economic and social development. As a scarce resource and rigid demand in the field of unmanned driving, high-precision maps play a central role in the entire field. They can help cars perceive complex information on the road surface in advance, such as slope, curvature, heading, etc., combined with intelligent path planning, allowing cars to make correct decisions. decision making. Therefore, the production and production of high-precision maps, especially high-precision road maps, i...

Claims

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Application Information

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IPC IPC(8): G01C21/32G01S17/89
CPCG01C21/32G01S17/89
Inventor 罗跃军季铮廖逸凡周洁方永火
Owner WUHAN ZHONGHAITING DATA TECH CO LTD
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