Beijing University of Chemical Tehcnology

Ruosen Hao

Wei Zhang

Li Wang

Yang Zhou

Zhiwei Li

Qifan Tan

Kunfeng Wang

Tianyu Shen

Jingwei Wang

A method and apparatus for localizing an intelligent vehicle in a dynamic scene are provided. The localizing method includes: processing an RGB image using a target detection model to determine a rectangular box of a movable object; converting first point cloud data and second point cloud data to a pixel coordinate system, and dividing the movable object into a static object and a dynamic object; converting the second point cloud data of the movable object in the pixel coordinate system to a map coordinate system to obtain a semantic point cloud map; converting the second point cloud data of a communication area, and of a rectangular box, in the pixel coordinate system to the map coordinate system to obtain a static point cloud map; and determining observation weights for objects in the second point cloud data, and thereby determining pose information of the intelligent vehicle at the current time.

Method and apparatus for localizing intelligent vehicle in dynamic scene

Growing community of inventors

Beijing, China

Ruosen Hao