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Point cloud-based multi-source feature fusion relocation method and device

A feature fusion and relocation technology, applied in the computer field, can solve problems such as poor robustness, achieve the effect of improving the robustness and accuracy of recognition, and enriching environmental information

Pending Publication Date: 2022-07-29
TSINGHUA UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a relocation method and device based on multi-source feature fusion of point cloud, which is used to solve the defect of poor robustness of the relocation method based on image data in the prior art, and to improve the robustness of relocation

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  • Point cloud-based multi-source feature fusion relocation method and device
  • Point cloud-based multi-source feature fusion relocation method and device
  • Point cloud-based multi-source feature fusion relocation method and device

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Embodiment Construction

[0058] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention. , not all examples. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0059] Combine below figure 1 - Figure 8 The relocation method for point cloud-based multi-source feature fusion provided by the embodiments of the present invention is described.

[0060] figure 1 It is one of the schematic flowcharts of the relocation method based on point cloud multi-source feature fusion provided by the embodiment of the present invention, such as figure 1 As shown, the relocation method f...

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Abstract

The invention provides a point cloud data-based multi-source feature fusion relocation method and device. The method comprises the following steps of: obtaining to-be-processed point cloud data; performing semantic segmentation on the to-be-processed point cloud data to obtain semantic features and semantic tags in one-to-one correspondence with the semantic features; performing instance segmentation on the semantic tag to obtain an instance set; performing graph convolution feature extraction on the instance set to obtain graph convolution features; a fusion vector is obtained based on multi-source features, and the multi-source features comprise the semantic features and the graph convolution features; and matching the fusion vector with a to-be-matched positioning vector set to obtain a repositioning result. According to the point cloud data-based multi-source feature fusion relocation method and device provided by the invention, environmental features are recognized by using GCN features, and are fused with semantic features, so that richer environmental information is obtained, and the recognition robustness and accuracy are improved.

Description

technical field [0001] The invention relates to the field of computer technology, and in particular, to a relocation method and device based on point cloud-based multi-source feature fusion. Background technique [0002] High-precision recognition is a major cornerstone of autonomous driving, providing reliable and accurate localization for autonomous vehicles. The essence of relocation is to extract global features and retrieve feature-matched data from sequence data. [0003] At present, the automatic driving technology based on image data is widely used. The color and outline information of the image can be used to extract highly recognizable features. The regular data structure is also convenient for the training of the deep model. change is more sensitive. When the seasons and lighting change, the recognition ability based on image features decreases. SUMMARY OF THE INVENTION [0004] The invention provides a relocation method and device based on multi-source featu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06V20/56G06K9/62G06V10/22G06V10/26G06V10/40G06V10/75G06V10/80
CPCG06F18/253
Inventor 邓志东刘文磊费家骏诸子钰
Owner TSINGHUA UNIV
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