Method of processing data for autonomous vehicle, electronic device, storage medium and autonomous vehicle

A method of processing data for an autonomous vehicle, comprising:

• acquiring sensor data for the autonomous vehicle, wherein the sensor data comprises inertial measurement data, LiDAR data, and visual image data;
• determining a first constraint factor for the inertial measurement data according to the inertial measurement data and the visual image data;
• determining a second constraint factor for the LiDAR data according to the inertial measurement data and the LiDAR data;
• determining a third constraint factor for the visual image data according to the inertial measurement data, the visual image data, and the LiDAR data;
• processing the sensor data based on the first constraint factor, the second constraint factor, and the third constraint factor, so as to obtain positioning data;
• and
• positioning the autonomous vehicle by using the positioning data, wherein
• the determining a third constraint factor for the visual image data according to the inertial measurement data, the visual image data, and the LiDAR data includes:
• determining a depth information of the visual image data according to the visual image data and the LiDAR data;
• determining a mapping relationship between the visual image data and the inertial measurement data according to the visual image data and the inertial measurement data;
• and
• determining the third constraint factor according to the depth information and the mapping relationship, and
• the determining a depth information of the visual image data according to the visual image data and the LiDAR data includes:
• determining an initial inertial measurement relative pose at a visual image acquisition time instant of the visual image data relative to a radar data acquisition time instant of adjacent radar data;
• determining a first projection position of the LiDAR data to a visual image data plane according to the visual image acquisition time instant, the radar data acquisition time instant, and the initial inertial measurement relative pose;
• determining an image projection time instant and an updated inertial measurement relative pose according to the first projection position;
• and
• determining the depth information of the visual image data according to the updated inertial measurement relative pose.