Visual vehicle-positioning fusion system and method thereof

A visual vehicle-positioning fusion system, which is suitable for an on-board system of a vehicle, the visual vehicle-positioning fusion system comprising:

• a storage device configured to store an image point cloud map;
• a positioning device arranged on the vehicle and obtained longitude and latitude measurement coordinates of the vehicle;
• and
• a processing device configured to convert the image point cloud map into a longitude and latitude database corresponding to the image point cloud map, use the longitude and latitude measurement coordinates as first location information, the first location information refers to the vehicle position measured by the positioning device;
• the processing device queries location coordinate points in the longitude and latitude database, and compares the longitude and latitude database with the longitude and latitude measurement coordinates, obtains the location coordinate point which is closest to the present longitude and latitude measurement coordinates and used as an initial location of the vehicle,
• the processing device performs feature matching on the initial location and the image point cloud map to generate second location information, the second location information refers to the vehicle position obtained through feature matching based on the image point cloud map;
• the processing device fuses the first location information and the second location information to obtain an estimated reference location, calculates a first difference value between the estimated reference location and the first location information, and calculates a second difference value between the estimated reference location and the second location information;
• the processing device selects and outputs the first location information or the second location information based on a positioning fusion rule, wherein the positioning fusion rule defines to use the first location information outputted by the processing device as positioning output information when the first difference value less than the second difference value and defines to use the second location information outputted by the processing device as the positioning output information when the second difference value less than the first difference value.