Localization method and apparatus, computer apparatus and computer readable storage medium
AssigneeJingdong Technology Information Technology Co., Ltd.
InventorsXiujun Yao, Chenguang Gui, Jiannan Chen, Fuqiang Ma, Chao Wang, Lihua Cui, Feng Wang
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Abstract
The present disclosure relates to a localization method and apparatus, and a computer apparatus and a computer-readable storage medium. The localization method includes performing radar mapping and visual mapping by respectively using a radar and a vision sensor, wherein a step of the vision mapping includes determining a pose of a key frame; and combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping.
Claims18
A localization method, comprising:
- performing radar mapping and vision mapping by respectively using a radar and a vision sensor, wherein a step of the vision mapping comprises determining a pose of a key frame;
- and
- combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping,
- wherein the combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping comprises:
- determining a pose of a candidate key frame and a pose of a current frame under a vision trajectory;
- transforming the pose of the candidate key frame and the pose of the current frame under the vision trajectory to a pose of the candidate key frame and a pose of the current frame under a radar trajectory;
- determining a pose transformation matrix from the candidate key frame to the current frame under the radar trajectory according to the pose of the candidate key frame and the pose of the current frame under the radar trajectory;
- and
- determining a preliminary pose of a navigation object under the radar trajectory according to the pose transformation matrix and a radar pose bound with the pose of the key frame.
A computer apparatus comprising:
- a memory configured to store instructions;
- and
- a processor configured to execute instructions, so that the computer apparatus performs the operations of implementing the localization method comprising:
- performing radar mapping and vision mapping by respectively using a radar and a vision sensor, wherein a step of the vision mapping comprises determining a pose of a key frame;
- and
- combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping,
- wherein the combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping comprises:
- determining a pose of a candidate key frame and a pose of a current frame under a vision trajectory;
- transforming the pose of the candidate key frame and the pose of the current frame under the vision trajectory to a pose of the candidate key frame and a pose of the current frame under a radar trajectory;
- determining a pose transformation matrix from the candidate key frame to the current frame under the radar trajectory according to the pose of the candidate key frame and the pose of the current frame under the radar trajectory;
- and
- determining a preliminary pose of a navigation object under the radar trajectory according to the pose transformation matrix and a radar pose bound with the pose of the key frame.
A non-transitory computer readable storage medium, wherein the non-transitory computer readable storage medium stores computer instructions that, when executed by a processor, implement a localization method for performing the instructions comprising:
- performing radar mapping and vision mapping by respectively using a radar and a vision sensor, wherein a step of the vision mapping comprises determining a pose of a key frame;
- and
- combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping,
- wherein the combining radar localization with vision localization based on the pose of the key frame, to use vision localization results for navigation on a map obtained by the radar mapping comprises:
- determining a pose of a candidate key frame and a pose of a current frame under a vision trajectory;
- transforming the pose of the candidate key frame and the pose of the current frame under the vision trajectory to a pose of the candidate key frame and a pose of the current frame under a radar trajectory;
- determining a pose transformation matrix from the candidate key frame to the current frame under the radar trajectory according to the pose of the candidate key frame and the pose of the current frame under the radar trajectory;
- and
- determining a preliminary pose of a navigation object under the radar trajectory according to the pose transformation matrix and a radar pose bound with the pose of the key frame.
Dependencies are inferred from the claim text.