Pose data processing method and system

Patent metadata

Field	Value
Publication number	US-2022044436-A1
Application number	US-202117451838-A
Country	US
Kind code	A1
Filing date	Oct 22, 2021
Priority date	Apr 25, 2019
Publication date	Feb 10, 2022
Grant date	—

Abstract

The present application is directed to a method and a system for processing pose data. The method and the system may be applied to a map generation device, the map generation device being coupled to a global positioning system and a pose sensing system, the global positioning system being configured for outputting positioning data, the pose sensing system being configured for outputting motion pose data, and the positioning data and the motion pose data being combined to generate pose estimation data. The method for processing pose data includes: determining, in response to generated positioning data, positioning accuracy information corresponding to the positioning data; determining a degree of confidence of the pose estimation data according to the positioning accuracy information; and generating optimized pose data by processing the pose estimation data according to the degree of the confidence of the pose estimation data.

First claim

1 . A method for processing pose data; the method being applied to a map generation device, the map generation device being coupled to a global positioning system and a pose sensing system, the global positioning system being configured for outputting positioning data; the pose sensing system being configured for outputting motion pose data, and the positioning data and the motion pose data being combined to generate pose estimation data, wherein the method for processing pose data comprises:
determining; in response to the generated positioning data, positioning accuracy information corresponding to the positioning data; determining a degree of confidence of the pose estimation data according to the positioning accuracy information; and generating optimized pose data by processing the pose estimation data according to the degree of the confidence of the pose estimation data.

2 . The method of claim 1 ; wherein the determining a degree of the confidence of the pose estimation data according to the positioning accuracy information comprises:
generating front-end mileage estimation data and a covariance matrix corresponding to the pose estimation data by inputting the positioning accuracy information, the positioning data, and the motion pose data into an Unscented Kalman Filter (UKF); determining one or more groups of point clouds by performing a time-space coherence division on the front-end mileage estimation data, and constructing a corresponding pose graph according to each of the one or more groups of point clouds; and determining the degree of the confidence of the pose estimation data based on the covariance matrix and the pose graph.

3 . The method of claim 2 , wherein the determining one or more groups of point clouds by performing a time-space coherence division on the front-end mileage estimation data, and constructing a corresponding pose graph according to each of the one or more groups of point clouds comprise;
determining edges of a first type in the pose graph by dividing the front-end mileage estimation data according to a preset time interval; determining edges of a second type in the pose graph by dividing the front-end mileage estimation data according to a preset space interval; and resolving a motion trajectory from the motion pose data, generating, through splicing, each of the one or more groups of point clouds according to a continuity of the motion trajectory, and determining a first frame of point cloud in each group of point clouds as a vertex of the pose graph.

4 . The method of claim 3 , wherein the determining the degree of the confidence of the pose estimation data based on the covariance matrix and the pose graph comprises:
determining an inverse matrix of the covariance matrix output by the Unscented Kalman Filter, and recording the inverse matrix as an information matrix of the edges of the first type; and determining another inverse matrix of the covariance matrix generated during registration by performing a registration on any two groups of point clouds in the one or more groups of point clouds, and recording the another inverse matrix as an information matrix of the edges of the second type.

5 . The method of claim 4 , wherein the determining an inverse matrix of the covariance matrix output by the Unscented Kalman Filter, and recording the inverse matrix as an information matrix of the edges of the first type comprise:
determining the information matrix of the edges of the first type according to at least one of at least one preset hardware parameter of the map generation device or a signal intensity of the positioning data.

6 . The method of claim 4 , wherein the generating optimized pose data by processing the pose estimation data according to the degree of the confidence of the pose estimation data comprises:
correcting a three-dimensional position of each group of point clouds in the pose graph according to the information matrix of the edges of the first type and the information matrix of the edges of the second type.

7 . The method of claim 5 , wherein the determining the information matrix of the edges of the first type according to at least one of at least one preset hardware parameter of the map generation device or a signal intensity of the positioning data comprises:
determining a parameter dimension of the pose estimation data according to at least one of the preset hardware parameter of the map generation device or the signal intensity of the positioning data; and setting a preset weight corresponding to the parameter dimension as a value of a diagonal matrix, and determining the information matrix of the edges of the first type according to the diagonal matrix.

8 . The method of claim 7 , wherein
the parameter dimension comprises at least one of an absolute position in the north, an absolute position in the east, an absolute position towards ground, a roll angle, a pitch angle, or a yaw angle.

9 . The method of claim 1 , wherein
the pose sensing system comprises at least one of a vision sensor, a laser sensor, or an inertial sensor.

10 . A system for processing pose data, the system being applied to a map generation device, the map generation device being coupled to a global positioning system and a pose sensing system, the global positioning system being configured for outputting positioning data, the pose sensing system being configured for outputting motion pose data, and the positioning data and the motion pose data being combined to generate pose estimation data, wherein the system for processing pose data comprises:
at least one memory for storing a computer instruction; and at least one processor in communication with the memory, wherein when the at least one processor executes the computer instruction, the at least one processor enables the system to execute: determining, in response to generated positioning data, positioning accuracy information corresponding to the positioning data; determining a degree of confidence of the pose estimation data according to the positioning accuracy information; and generating optimized pose data by processing the pose estimation data according to the degree of the confidence of the pose estimation data.

11 . The system of claim 10 , wherein in order to determine the degree of the confidence of the pose estimation data, the at least one processor enables the system to further execute:
generating front-end mileage estimation data and a covariance matrix corresponding to the pose estimation data by inputting the positioning accuracy information, the positioning data and the motion pose data into an Unscented Kalman Filter (UKF); determining one or more groups of point clouds by performing a time-space coherence division on the front-end mileage estimation data, and constructing a corresponding pose graph according to each of the one or more groups of point clouds; and determining the degree of the confidence of the pose estimation data based on the covariance matrix and the pose graph.

12 . The system of claim 11 , wherein in order to construct the corresponding pose graph according to each group of point clouds, the at least one processor enables the system to further execute:
determining edges of a first type in the pose graph by dividing the front-end mileage estimation data according to a preset time interval; determining edges of a second type in the pose graph by dividing the front-end mileage estimation data according to a preset space interval; and resolving a motion trajectory from the motion pose data, generating, through splicing, each of the one or more groups of point clouds according to a continuity of the motion trajectory, and d

Assignees

• Beijing Didi Infinity Technology & Dev Co Ltd

Inventors

• Yang Sheng
• Ma Teng

Classifications

• G06F16/29 Primary

  Geographical information databases · CPC title

• G06T2200/04

  involving 3D image data · CPC title

• G06T7/70 Primary

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G01C21/32 Primary

  Structuring or formatting of map data · CPC title

• G01S19/45

  by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement · CPC title