Title:
METHOD, DEVICE AND SYSTEM FOR COOPERATIVELY CONSTRUCTING POINT CLOUD MAP
Document Type and Number:
WIPO Patent Application WO/2021/254019
Kind Code:
A1
Abstract:
A method, a device and a system for cooperatively constructing a point cloud map, relating to the field of point cloud map construction. Said method comprises: acquiring point cloud data of corresponding road sections respectively acquired by a plurality of vehicles when moving on different road sections, different vehicles corresponding to different road sections in a preset route, and an overlap region being provided between any first road section and second road section which are adjacent (110); determining, by using the point cloud data of the overlap region, a transformation matrix for transforming the point cloud data of the second road section into the point cloud data of the first road section (120); using the transformation matrix to transform the point cloud data of the second road section (130); and splicing the point cloud data of the first road section and the transformed point cloud data of the second road section to construct a point cloud map of the preset route (140). Thus, the present invention improves the efficiency of constructing a point cloud map of the entire route, and is applicable to a service scenario of online construction of a point cloud map.
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Inventors:
KONG QI (CN)
ZHANG JINFENG (CN)
ZHANG JINFENG (CN)
Application Number:
PCT/CN2021/092280
Publication Date:
December 23, 2021
Filing Date:
May 08, 2021
Export Citation:
Assignee:
BEIJING JINGDONG QIANSHI TECH CO LTD (CN)
International Classes:
G06T3/40
Foreign References:
| CN111681172A | 2020-09-18 | |||
| CN109781129A | 2019-05-21 | |||
| CN110795523A | 2020-02-14 | |||
| US20160163114A1 | 2016-06-09 | |||
| CN111208492A | 2020-05-29 |
Attorney, Agent or Firm:
CCPIT PATENT AND TRADEMARK LAW OFFICE (CN)
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