Positioning method and apparatus
AssigneeHuawei Technologies Co., Ltd.
InventorsSunpei Zhang, Yuan Feng, Wei Li, Peng Zhou
Life of this patent
Estimating the term…
Abstract
A positioning method includes clustering points in a first point cloud through multi-clustering to obtain a target point cloud, where the target point cloud represents a feature of a target object, and the first point cloud includes the target point cloud and a point cloud that represents a feature of an interfering object; and determining a position of the target object based on the target point cloud.
Claims23
A positioning method, comprising:
- clustering points in a first point cloud through multi-clustering to obtain a second point cloud, wherein the second point cloud has a highest probability among the first point cloud of belonging to a target point cloud based on an average distance between the first point cloud and a centroid of the second point cloud according to a moving coordinate system of a self-driving apparatus, wherein the target point cloud represents a surface feature of a target object, and wherein the first point cloud comprises the target point cloud and another point cloud that represents a surface feature of an interfering object;
- clustering points in a third point cloud at least once to obtain the target point cloud when the second point cloud is not the target point cloud, wherein the third point cloud is not the second point cloud;
- and
- determining a position of the target object based on the target point cloud.
A positioning apparatus, comprising:
- a non-transitory storage medium configured to store program instructions;
- and
- a processor coupled to the non-transitory storage medium and configured to execute the program instructions that cause the positioning apparatus to:
- cluster points in a first point cloud through multi-clustering to obtain a second point cloud, wherein the second point cloud has a highest probability among the first point cloud of belonging to a target cloud based on an average distance between the first point cloud and a centroid of the second point cloud according to a moving coordinate system of a self-driving apparatus, wherein the target point cloud represents a surface feature of a target object, and wherein the first point cloud comprises the target point cloud and another point cloud that represents a surface feature of an interfering object;
- cluster points in a third point cloud at least once to obtain the target point cloud when the second point cloud is not the target point cloud, wherein the third point cloud is not the second point cloud;
- and
- determine a position of the target object based on the target point cloud.
A computer program product comprising instructions that are stored on a non-transitory computer readable medium and that when executed by a processor, causes an apparatus to:
- cluster points in a first point cloud through multi-clustering to obtain a second point cloud, wherein the second point cloud has a highest probability among the first point cloud of belonging to a target point cloud based on an average distance between the first point cloud and a centroid of the second point cloud according to a moving coordinate system of a self-driving apparatus, wherein the target point cloud represents a surface feature of a target object, and wherein the first point cloud comprises the target point cloud and another point cloud that represents a surface feature of an interfering object;
- cluster points in a third point cloud at least once to obtain the target point cloud when the second point cloud is not the target point cloud, wherein the third point cloud is not the second point cloud;
- and
- determine a position of the target object based on the target point cloud.
Dependencies are inferred from the claim text.