Baidu Online Network Technology (beijing) Co., Ltd.

Apollo Intelligent Driving Technology (beijing) Co., Ltd.

Bosheng Wang

Liang Wang

Ming Wang

He Yan

Shiyu Song

Yuanfan Xie

Feilong Yan

Weixin Lu

The method comprises: creating a 3D scenario model of a calibration scenario, based on data of the calibration scenario collected by an already-calibrated 3D scanner; obtaining point cloud data collected by a to-be-calibrated multi-line laser radar at a plurality of position points in the calibration scenario respectively; aligning the point cloud data collected by the multi-line laser radar at the respective point points and point cloud data in the 3D scenario model into the same coordinate system on a principle that the respective position points are aligned with corresponding position points in the 3D scenario model; building a target function between data of points collected by the multi-line laser radar and data of matching points nearest to the points in the 3D scenario model, under the same coordinate system; calibrating the parameters of the multi-line laser radar according to the target function.

Parameter calibration method and apparatus of multi-line laser radar, device and readable medium

A method and apparatus for identifying laser point cloud data of an autonomous vehicle provided with a lidar. A specific implementation of the method includes: acquiring current pose information of the autonomous vehicle in a world coordinate system in response to receiving a latest frame of laser point cloud data collected by the lidar; acquiring from the cache, based on the current pose information, N&#xd7;N map blocks centered on map blocks corresponding to the current pose information in a preset three-dimensional grid map and pre-loaded into a cache and are; and executing, for each laser point data in the received laser point cloud data, the laser point data identification operations. The implementation realizes identifying whether each laser point data is a static laser point, and can improve the accuracy rate of identifying a laser point data obstacle.

Method and apparatus for identifying laser point cloud data of autonomous vehicle

A method and apparatus for outputting information of an autonomous vehicle are provided. The autonomous vehicle comprises a lidar. A specific embodiment of the method comprises: determining a target area around the autonomous vehicle from a target map based on positioning information of the autonomous vehicle; acquiring obstacle point cloud data in a preset area around the autonomous vehicle by the lidar, the preset area including the target area; determining a point cloud data set corresponding to the target area from the point cloud data of the obstacle based on the target area and the point cloud data, and determining the point cloud data set as a target point cloud data set; and outputting the target point cloud data set. The embodiment has reduced the usage rate of vehicle terminal processors, and improved the driving safety of the vehicle.

Method and apparatus for outputting information of autonomous vehicle

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Beijing, China

Bosheng Wang