Semantic mapping method and device in parking garage environment, electronic equipment and storage medium
The invention relates to a semantic mapping method and device in a parking garage environment, electronic equipment and a storage medium. The method comprises the steps that vehicle pose information is obtained according to sensor data; splicing a plurality of look-around pictures, detecting lane li...
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| creator | WANG LILI KANG YIFEI LIU SONGTAO LI WEI XIE YIJIANG |
| description | The invention relates to a semantic mapping method and device in a parking garage environment, electronic equipment and a storage medium. The method comprises the steps that vehicle pose information is obtained according to sensor data; splicing a plurality of look-around pictures, detecting lane line semantic information and garage location line semantic information through a semantic segmentation algorithm, marking corresponding picture pixels, and extracting a lane line center line picture and a garage location line center line picture; according to the vehicle pose information and the time of the look-around picture, calculating the vehicle pose information of the look-around picture, obtaining lane line point clouds and parking space line point clouds at different moments based on the vehicle pose information of the look-around picture, the lane line center line picture and the parking space line center line picture, and splicing to obtain an initial semantic point cloud map; and performing downsampling |
| format | Patent |
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The method comprises the steps that vehicle pose information is obtained according to sensor data; splicing a plurality of look-around pictures, detecting lane line semantic information and garage location line semantic information through a semantic segmentation algorithm, marking corresponding picture pixels, and extracting a lane line center line picture and a garage location line center line picture; according to the vehicle pose information and the time of the look-around picture, calculating the vehicle pose information of the look-around picture, obtaining lane line point clouds and parking space line point clouds at different moments based on the vehicle pose information of the look-around picture, the lane line center line picture and the parking space line center line picture, and splicing to obtain an initial semantic point cloud map; and performing downsampling</description><language>chi ; eng</language><subject>CALCULATING ; COMPUTING ; COUNTING ; GYROSCOPIC INSTRUMENTS ; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; SURVEYING ; TESTING</subject><creationdate>2023</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230502&DB=EPODOC&CC=CN&NR=116051666A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,780,885,25562,76317</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20230502&DB=EPODOC&CC=CN&NR=116051666A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>WANG LILI</creatorcontrib><creatorcontrib>KANG YIFEI</creatorcontrib><creatorcontrib>LIU SONGTAO</creatorcontrib><creatorcontrib>LI WEI</creatorcontrib><creatorcontrib>XIE YIJIANG</creatorcontrib><title>Semantic mapping method and device in parking garage environment, electronic equipment and storage medium</title><description>The invention relates to a semantic mapping method and device in a parking garage environment, electronic equipment and a storage medium. 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The method comprises the steps that vehicle pose information is obtained according to sensor data; splicing a plurality of look-around pictures, detecting lane line semantic information and garage location line semantic information through a semantic segmentation algorithm, marking corresponding picture pixels, and extracting a lane line center line picture and a garage location line center line picture; according to the vehicle pose information and the time of the look-around picture, calculating the vehicle pose information of the look-around picture, obtaining lane line point clouds and parking space line point clouds at different moments based on the vehicle pose information of the look-around picture, the lane line center line picture and the parking space line center line picture, and splicing to obtain an initial semantic point cloud map; and performing downsampling</abstract><oa>free_for_read</oa></addata></record> |
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| language | chi ; eng |
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| subjects | CALCULATING COMPUTING COUNTING GYROSCOPIC INSTRUMENTS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING |
| title | Semantic mapping method and device in parking garage environment, electronic equipment and storage medium |
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