Quick map updating method and device adapting to unknown dynamic space and storage medium

The invention discloses a rapid map updating method and device adapting to an unknown dynamic space and a storage medium, and belongs to the field of automatic driving. The method comprises the following steps: performing coordinate transformation on a currently acquired local map based on an acquir...

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Hauptverfasser:	ZHANG CHENGLIN, LIU JUNJUN, WANG MINGJIE, LUO GUANCHEN
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	CALCULATING COMPUTING COUNTING ELECTRIC DIGITAL DATA PROCESSING GYROSCOPIC INSTRUMENTS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING
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creator	ZHANG CHENGLIN LIU JUNJUN WANG MINGJIE LUO GUANCHEN
description	The invention discloses a rapid map updating method and device adapting to an unknown dynamic space and a storage medium, and belongs to the field of automatic driving. The method comprises the following steps: performing coordinate transformation on a currently acquired local map based on an acquirable pose; respectively splicing to obtain a current archived map and a current planning map, wherein the current archived map is used as an original archived map of the next frame, the archived map is a global map and is used for recording an immovable obstacle or a part which is not changed in theenvironment, the current planning map is a global planning map or a local planning map and is used for recording the current environment so as to be directly used for path planning. All maps are provided with three space occupation characteristic logic values: passage, unknown and obstacle. The mode of separating the archived map from the current planning map is suitable for describing the dynamics and uncertainty of the
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The method comprises the following steps: performing coordinate transformation on a currently acquired local map based on an acquirable pose; respectively splicing to obtain a current archived map and a current planning map, wherein the current archived map is used as an original archived map of the next frame, the archived map is a global map and is used for recording an immovable obstacle or a part which is not changed in theenvironment, the current planning map is a global planning map or a local planning map and is used for recording the current environment so as to be directly used for path planning. All maps are provided with three space occupation characteristic logic values: passage, unknown and obstacle. 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The method comprises the following steps: performing coordinate transformation on a currently acquired local map based on an acquirable pose; respectively splicing to obtain a current archived map and a current planning map, wherein the current archived map is used as an original archived map of the next frame, the archived map is a global map and is used for recording an immovable obstacle or a part which is not changed in theenvironment, the current planning map is a global planning map or a local planning map and is used for recording the current environment so as to be directly used for path planning. All maps are provided with three space occupation characteristic logic values: passage, unknown and obstacle. 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The method comprises the following steps: performing coordinate transformation on a currently acquired local map based on an acquirable pose; respectively splicing to obtain a current archived map and a current planning map, wherein the current archived map is used as an original archived map of the next frame, the archived map is a global map and is used for recording an immovable obstacle or a part which is not changed in theenvironment, the current planning map is a global planning map or a local planning map and is used for recording the current environment so as to be directly used for path planning. All maps are provided with three space occupation characteristic logic values: passage, unknown and obstacle. The mode of separating the archived map from the current planning map is suitable for describing the dynamics and uncertainty of the</abstract><oa>free_for_read</oa></addata></record>
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subjects	CALCULATING COMPUTING COUNTING ELECTRIC DIGITAL DATA PROCESSING GYROSCOPIC INSTRUMENTS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING
title	Quick map updating method and device adapting to unknown dynamic space and storage medium
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