Positioning method and device and electronic equipment

文档序号：1597421 发布日期：2020-01-07 浏览：9次中文

阅读说明：本技术 定位方法、装置以及电子设备 (Positioning method and device and electronic equipment ) 是由陈岳朱宝伟于 2018-06-29 设计创作，主要内容包括：本发明实施例提供一种定位方法、装置以及电子设备,其中,方法包括：获取摄像设备拍摄的图像和所述图像对应的激光点云；基于所述图像和所述图像对应的激光点云,获取所述摄像设备在拍摄所述图像的时刻所处的位置；基于所述摄像设备在拍摄所述图像的时刻所处的位置以及预测量的所述摄像设备与惯导设备的相对位置参数与相对姿态参数,获取拍摄所述图像的时刻所述惯导设备所处的定位位置。本发明实施例的方案,能够基于激光点云,快速地获取准确的定位位置。(The embodiment of the invention provides a positioning method, a positioning device and electronic equipment, wherein the method comprises the following steps: acquiring an image shot by a camera device and laser point cloud corresponding to the image; acquiring the position of the camera at the moment of shooting the image based on the image and the laser point cloud corresponding to the image; and acquiring a positioning position of the inertial navigation equipment at the moment of shooting the image based on the position of the image shooting equipment at the moment of shooting the image and the pre-measured relative position parameters and relative attitude parameters of the image shooting equipment and the inertial navigation equipment. According to the scheme of the embodiment of the invention, the accurate positioning position can be quickly acquired based on the laser point cloud.)

1. A method of positioning, comprising:

acquiring an image shot by a camera device and laser point cloud corresponding to the image;

acquiring the position of the camera at the moment of shooting the image based on the image and the laser point cloud corresponding to the image;

and acquiring a positioning position of the inertial navigation equipment at the moment of shooting the image based on the position of the image shooting equipment at the moment of shooting the image and the pre-measured relative position parameters and relative attitude parameters of the image shooting equipment and the inertial navigation equipment.

2. The method of claim 1, further comprising:

acquiring a historical positioning position of inertial navigation equipment at the moment of shooting an image from the historical positioning position of the inertial navigation equipment acquired when the image is shot;

and acquiring a positioning error of a historical positioning position where the inertial navigation equipment is located at the moment of shooting the image relative to a positioning position where the inertial navigation equipment is located at the moment of shooting the image.

3. The method of claim 2, wherein obtaining, from historical positioning positions of an inertial navigation device acquired when an image was taken, a historical positioning position at which the inertial navigation device was located at a time when the image was taken comprises:

acquiring historical positioning positions acquired at two moments adjacent to the moment of shooting the image from the historical positioning positions of the inertial navigation equipment acquired when the image is shot;

and acquiring the historical positioning position of the inertial navigation equipment at the moment of shooting the image based on the historical positioning positions acquired at the two adjacent moments.

4. The method of claim 3, wherein the obtaining the historical positioning position of the inertial navigation device at the time of capturing the image based on the historical positioning positions acquired at the two adjacent times comprises:

and acquiring the historical positioning position of the inertial navigation equipment at the moment of shooting the image based on the moment of shooting the image, the two adjacent moments and the historical positioning positions acquired at the two adjacent moments.

5. The method of claim 3, further comprising:

acquiring historical speeds of the inertial navigation equipment acquired at the two adjacent moments;

acquiring the historical positioning position where the inertial navigation device is located at the moment of shooting the image based on the historical positioning positions acquired at the two adjacent moments specifically comprises:

6. The method according to any one of claims 3-5, wherein the obtaining of the positioning error of the historical positioning position of the inertial navigation device at the time of capturing the image relative to the positioning position of the inertial navigation device at the time of capturing the image comprises:

acquiring projection points of straight lines where historical positioning positions acquired at two adjacent moments are located at the positioning position where the inertial navigation equipment is located at the moment of shooting the image;

determining the distance from the positioning position of the inertial navigation equipment to the projection point at the moment of shooting the image as the transverse positioning error of the historical positioning position of the inertial navigation equipment at the moment of shooting the image relative to the positioning position of the inertial navigation equipment at the moment of shooting the image;

and determining the distance from the historical positioning position of the inertial navigation equipment to the projection point at the moment of shooting the image as the longitudinal positioning error of the historical positioning position of the inertial navigation equipment at the moment of shooting the image relative to the positioning position of the inertial navigation equipment at the moment of shooting the image.

7. The method according to any one of claims 1 to 5, wherein the acquiring, based on the image and the laser point cloud corresponding to the image, a position where the image capturing apparatus is located at a time of capturing the image specifically comprises:

and acquiring the position of the camera at the moment of shooting the image by using a plane calibration method based on the characteristic pixel points in the image and the corresponding points of the characteristic pixel points in the laser point cloud.

8. A positioning device, comprising:

the point cloud data acquisition module is used for acquiring an image shot by the camera equipment and laser point cloud corresponding to the image;

the positioning data acquisition module is used for acquiring the position of the camera at the moment of shooting the image based on the image and the laser point cloud corresponding to the image;

and the position positioning module is used for acquiring the positioning position of the inertial navigation equipment at the moment of shooting the image based on the position of the image shooting equipment at the moment of shooting the image and the pre-measured relative position parameters and relative attitude parameters of the image shooting equipment and the inertial navigation equipment.

9. The apparatus of claim 8, further comprising:

the historical data acquisition module is used for acquiring the historical positioning position of the inertial navigation equipment at the moment of shooting the image from the historical positioning position of the inertial navigation equipment collected when the image is shot;

and the error estimation module is used for acquiring a positioning error of a historical positioning position where the inertial navigation equipment is located at the moment of shooting the image relative to a positioning position where the inertial navigation equipment is located at the moment of shooting the image.

10. The apparatus of claim 9, wherein the historical data acquisition module comprises:

the device comprises a historical position acquisition unit, a storage unit and a processing unit, wherein the historical position acquisition unit is used for acquiring historical positioning positions acquired at two moments adjacent to the moment of shooting an image from the historical positioning positions of the inertial navigation equipment acquired when the image is shot;

and the historical positioning unit is used for acquiring the historical positioning position of the inertial navigation equipment at the moment of shooting the image based on the historical positioning positions acquired at the two adjacent moments.

11. The apparatus of claim 10, wherein the history positioning unit is configured to obtain, based on the history positioning positions acquired at the two adjacent time instants, a history positioning position at which the inertial navigation device is located at a time when the image is captured specifically includes:

12. The apparatus of claim 10, further comprising:

the historical speed acquisition module is used for acquiring the historical speeds of the inertial navigation equipment acquired at the two adjacent moments;

the history positioning unit is configured to obtain, based on the history positioning positions acquired at the two adjacent moments, a history positioning position where the inertial navigation device is located at a moment when the image is captured specifically includes:

13. The apparatus according to any of claims 10-12, wherein the error estimation module comprises:

the projection point acquisition unit is used for acquiring projection points of straight lines where the positioning positions where the inertial navigation equipment is located at the moment of shooting the image are located at the historical positioning positions acquired at the two adjacent moments;

a transverse error obtaining unit, configured to determine a distance from a location position where the inertial navigation device is located at a time when the image is captured to the projection point as a transverse location error of a historical location position where the inertial navigation device is located at the time when the image is captured relative to the location position where the inertial navigation device is located at the time when the image is captured;

and the longitudinal error acquisition unit is used for determining the distance from the historical positioning position of the inertial navigation equipment to the projection point at the moment of shooting the image as the longitudinal positioning error of the historical positioning position of the inertial navigation equipment at the moment of shooting the image relative to the positioning position of the inertial navigation equipment at the moment of shooting the image.

14. The apparatus according to any one of claims 8 to 12, wherein the process of acquiring the position of the image capturing device at the time of capturing the image based on the image and the laser point cloud corresponding to the image specifically includes:

15. An electronic device, comprising:

a memory for storing a program;

a processor, coupled to the memory, for executing the program for:

acquiring an image shot by a camera device and laser point cloud corresponding to the image;

acquiring the position of the camera at the moment of shooting the image based on the image and the laser point cloud corresponding to the image;

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a positioning method and apparatus, and an electronic device.

Background

In a conventional vehicle Positioning method, a vehicle Positioning position is generally obtained based on a Global Positioning System (GPS) receiver mounted on a vehicle, and Positioning accuracy is generally on the meter level. After the generation of high-accuracy maps, high-accuracy map-based positioning methods have emerged, the positioning accuracy of which is typically in the centimeter level. The inventor finds that the method is generally applied to a real-time positioning scene, such as positioning during vehicle driving, in the process of researching a high-precision positioning method based on a high-precision map, but the method is not applicable to a non-real-time scene which needs to obtain a positioning position based on laser point cloud data.

Disclosure of Invention

The invention provides a positioning method, a positioning device and electronic equipment, which can quickly acquire an accurate positioning position based on laser point cloud.

In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:

in a first aspect, a positioning method is provided, including:

acquiring an image shot by a camera device and laser point cloud corresponding to the image;

acquiring the position of the camera at the moment of shooting the image based on the image and the laser point cloud corresponding to the image;

In a second aspect, there is provided a positioning device comprising:

the point cloud data acquisition module is used for acquiring an image shot by the camera equipment and laser point cloud corresponding to the image;

the positioning data acquisition module is used for acquiring the position of the camera at the moment of shooting the image based on the image and the laser point cloud corresponding to the image;

In a third aspect, an electronic device is provided, including:

a memory for storing a program;

a processor, coupled to the memory, for executing the program for:

acquiring an image shot by a camera device and laser point cloud corresponding to the image;

acquiring the position of the camera at the moment of shooting the image based on the image and the laser point cloud corresponding to the image;

The invention provides a positioning method, a positioning device and electronic equipment.

Compared with the existing positioning method based on the high-precision map, the invention of the technical scheme is that the position of the camera equipment is obtained by utilizing the laser point cloud, and meanwhile, the positioning position of the inertial navigation equipment, namely the positioning position of the vehicle carrying the inertial navigation equipment is obtained through the position of the camera equipment and the position relation between the camera equipment and the inertial navigation equipment, so that the accurate positioning position of the inertial navigation equipment can be quickly obtained in a non-real-time high-precision positioning scene (the laser point cloud is not generally adopted in a real-time positioning scene).

The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

FIG. 1 is a block diagram of a positioning system according to an embodiment of the present invention;

fig. 2 is a hardware structure diagram corresponding to the positioning system according to the embodiment of the present invention;

FIG. 3a is a first flowchart of a positioning method according to an embodiment of the present invention;

FIG. 3b is an illustration of an image sample taken by the imaging device according to the embodiment of the invention;

FIG. 3c is a sample diagram of a laser point cloud according to an embodiment of the present invention;

FIG. 4 is a flowchart of a positioning method according to an embodiment of the present invention;

FIG. 5a is a flow chart of a positioning method according to an embodiment of the present invention;

FIG. 5b is a first schematic diagram of a positioning calculation according to an embodiment of the present invention;

FIG. 5c is a schematic diagram of a positioning calculation according to an embodiment of the present invention;

FIG. 6a is a flowchart of a positioning error estimation method according to an embodiment of the present invention;

FIG. 6b is a data diagram of the positioning error statistics of the embodiment of the present invention.

FIG. 7 is a first block diagram of a positioning apparatus according to an embodiment of the present invention;

FIG. 8 is a second block diagram of a positioning apparatus according to an embodiment of the present invention;

FIG. 9 is a third block diagram of a positioning apparatus according to an embodiment of the present invention;

FIG. 10 is a fourth block diagram of a positioning apparatus according to an embodiment of the present invention;

FIG. 11 is a block diagram of an error estimation module according to an embodiment of the invention;

fig. 12 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The inventor finds that the difference between the high-precision map and the ordinary map in the process of researching the existing positioning method based on the high-precision map is that the high-precision map is the map data of the lane level made based on the laser point cloud, in some non-real-time, high-precision positioning scenarios, however, the input data may be laser point cloud data, therefore, the existing positioning method based on the high-precision map is not suitable for the non-real-time high-precision positioning scene, in order to solve the high-precision positioning requirement based on laser point cloud, the invention uses the position of the camera equipment as a transmission parameter, after the position of the camera shooting device is determined by the image shot by the camera shooting device and the laser point cloud corresponding to the image, the positioning position of the inertial navigation equipment is calculated and obtained based on the position relation between the camera equipment and the inertial navigation equipment which are measured in advance, and the problem that the position of the inertial navigation equipment cannot be determined quickly and accurately based on laser point cloud data in the prior art is solved. Meanwhile, since the inertial navigation device is generally mounted on a vehicle, the position of the inertial navigation device can be regarded as the position of the vehicle.

Fig. 1 is a structural diagram of a positioning system according to an embodiment of the present invention. As shown in fig. 1, the system includes: the camera device 110, the laser radar 120, the inertial navigation device 130 and the positioning device 140; wherein:

the image pickup apparatus 110 is always kept in a fixed relative positional relationship and attitude relationship with the inertial navigation apparatus 120, and is used to pick up an image of the periphery of the road.

And the laser radar 120 is used for scanning the road and the surrounding environment of the road to obtain a laser point cloud image.

And the inertial navigation equipment 130 is fixed on the vehicle and used for calculating the position of the vehicle through an inertial positioning algorithm.

The positioning device 140 is in communication connection with the image capturing apparatus 110, the laser radar 120 and the inertial navigation apparatus 130, and is configured to obtain a position of the image capturing apparatus 110 at a photographing time based on an image captured by the image capturing apparatus 110 and a laser point cloud obtained by scanning by the laser radar 120, and calculate a positioning position where the inertial navigation apparatus 130 is located based on the position of the image capturing apparatus 110, a relative position between the image capturing apparatus 110 and the inertial navigation apparatus 130, and an attitude relationship.

The positioning system provided by the embodiment of the invention can realize the rapid and accurate positioning of the inertial navigation equipment, namely the vehicle position based on the laser point cloud data.

As shown in fig. 2, the schematic diagram of a hardware structure of the positioning system in an actual application scenario is shown, where the schematic diagram further includes a synchronizer, an industrial personal computer, and a power supply in addition to the camera device, the laser radar, and the inertial navigation device. Wherein:

the camera shooting device can use an industrial camera in the system and is configured to trigger a shooting mode, namely, a shooting mode can be carried out only when an external trigger signal is waited. And after photographing, sending the photo to an industrial personal computer.

And the synchronizer is mainly used for stamping time stamps on the images shot by the camera equipment. The inertial navigation equipment sends time service information to the synchronizer, and the time of the synchronizer keeps synchronous with the GPS time. After time service is successful, the synchronizer sends a photographing command to the camera equipment according to a fixed frequency (for example, 1Hz), and meanwhile, the photographing time is sent to the industrial personal computer.

And the inertial navigation equipment is used for providing a time service function for the synchronizer and sending position and attitude data to the industrial personal computer.

The industrial personal computer runs a positioning program in the industrial personal computer, and data of each sensor (such as camera equipment, inertial navigation equipment and laser radar) is processed in the industrial personal computer, so that the industrial personal computer is a main component for realizing the positioning device. In addition, a synchronizer is also included in the positioning device.

And the laser radar is used for carrying out laser scanning on the road and the surrounding environment, sending laser data to the industrial personal computer and generating laser point cloud data.

And the power supply is used for supplying electric energy to each hardware component.

In practical application scenarios, the image capturing device (e.g., a camera) and the inertial navigation device may be disposed together on a moving object such as a running vehicle, and the image capturing device and the inertial navigation device always maintain a fixed positional relationship (including translational and rotational positional relationships). And the camera shooting equipment shoots images of the surrounding environment and transmits the images to the industrial personal computer in the running process of the vehicle. Meanwhile, the laser radar scans the road and the surrounding environment with laser, and transmits the laser data (laser point cloud) to the industrial personal computer. The industrial personal computer identifies the position of the camera equipment by using the image and the laser point cloud; and then, according to the position of the camera equipment and the position relation between the camera equipment and the inertial navigation equipment, namely the relative position parameter and the relative attitude parameter, the positioning position of the inertial navigation equipment can be obtained through calculation.

Further, the positioning device may further include:

the historical positioning acquisition module is used for acquiring the historical positioning position of the inertial navigation equipment at the moment of image shooting from the historical positioning positions of the inertial navigation equipment acquired when the image is shot;

and the error estimation module is used for acquiring the positioning error of the historical positioning position of the moment inertial navigation equipment for shooting the image relative to the positioning position of the moment inertial navigation equipment for shooting the image.

Specifically, in the process of shooting images by the camera equipment, the inertial navigation equipment can also acquire historical positioning positions based on the self-positioning function and send the historical positioning positions to the industrial personal computer; and then comparing the positioning position of the inertial navigation equipment serving as a true value with the historical positioning position obtained by positioning based on the inertial navigation equipment to obtain the positioning error determination of the historical positioning position of the inertial navigation equipment at the moment of shooting the image relative to the positioning position of the inertial navigation equipment at the moment of shooting the image.

The technical solution of the present application is further illustrated by the following examples.

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