Vehicle positioning method and system based on laser device

A positioning system, comprising:

• a movable platform;
• a Lidar mounted on the movable platform to detect a plurality of reflectors mounted on a target object while the movable platform is moving, wherein each of the plurality of reflectors includes a reflective pillar;
• and
• at least one processor mounted on the movable platform and in communication with the Lidar and the movable platform to:
• obtain in real-time, according to the current position information, relative positions of the plurality of reflectors with respect to the Lidar by:
• determining a plurality of cloud points for a reflector,
• performing a coarse filtering on the plurality of cloud points to generate a coarse cloud point cluster,
• performing a fine filtering on the coarse cloud point cluster to generate a fine cloud point cluster, and
• determining the position of the reflector based on the fine cloud point cluster, and
• obtain a relative position of the movable platform with respect to the target object based on the relative positions of the plurality of reflectors with respect to the Lidar.