Method and apparatus for updating maps

An apparatus for updating a map, the apparatus comprising:

• at least one processor;
• and
• a memory storing instructions, which when executed by the at least one processor, cause the at least one processor to perform operations comprising:
• acquiring laser point clouds obtained at each scanning time in a current scanning period in response to a vehicle moving in a to-be-constructed area and using a vehicle-borne laser radar to scan a surrounding environment, and acquiring a periodic pose change of the vehicle, relative to a start time, at an end time in each scanning period, the periodic pose change obtained by a vehicle-borne inertial navigation system of the vehicle through measurement and calculation;
• determining an a priori pose of the laser radar at a reference time in the current scanning period based on a known pose of the laser radar at a reference time in a previous scanning period before the current scanning period and a periodic pose change of the current scanning period and/or the previous scanning period;
• performing motion compensation on the laser point clouds scanned at the each scanning time in the current scanning period by taking the reference time in the current scanning period as a benchmark to form a compensated point cloud frame of the current scanning period;
• generating a partial point cloud characteristic map used for matching using a characteristic point extracted from the compensated point cloud frame;
• matching the partial point cloud characteristic map with a map area obtained by performing positioning in a reference point cloud map using a position of the a priori pose, and correcting the a priori pose based on a matching result to obtain an a posteriori pose, the reference point cloud map constructed by using laser point clouds obtained through static scanning by three-dimensional scanners deployed at fixed measurement stations of the to-be-constructed area;
• and
• updating a three-dimensional point cloud map of the to-be-constructed area using the compensated point cloud frame in the current scanning period based on the a posteriori pose of the laser radar at the reference time in the current scanning period.

A non-transitory computer storage medium on which computer programs are stored, which when executed by a processor, cause the processor to perform operations comprising:

• acquiring laser point clouds obtained at each scanning time in a current scanning period in response to a vehicle moving in a to-be-constructed area and using a vehicle-borne laser radar to scan a surrounding environment, and acquiring a periodic pose change of the vehicle, relative to a start time, at an end time in each scanning period, the periodic pose change obtained by a vehicle-borne inertial navigation system of the vehicle through measurement and calculation;
• determining an a priori pose of the laser radar at a reference time in the current scanning period based on a known pose of the laser radar at a reference time in a previous scanning period before the current scanning period and a periodic pose change of the current scanning period and/or the previous scanning period;
• performing motion compensation on the laser point clouds scanned at the each scanning time in the current scanning period by taking the reference time in the current scanning period as a benchmark to form a compensated point cloud frame of the current scanning period;
• generating a partial point cloud characteristic map used for matching using a characteristic point extracted from the compensated point cloud frame;
• matching the partial point cloud characteristic map with a map area obtained by performing positioning in a reference point cloud map using a position of the a priori pose, and correcting the a priori pose based on a matching result to obtain an a posteriori pose, the reference point cloud map constructed by using laser point clouds obtained through static scanning by three-dimensional scanners deployed at fixed measurement stations of the to-be-constructed area;
• and
• updating a three-dimensional point cloud map of the to-be-constructed area using the compensated point cloud frame in the current scanning period based on the a posteriori pose of the laser radar at the reference time in the current scanning period.