The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jun. 06, 2023
Filed:
Dec. 30, 2020
Beijing Baidu Netcom Science Technology Co., Ltd., Beijing, CN;
Wendong Ding, Beijing, CN;
Fan Yi, Beijing, CN;
Li Yu, Beijing, CN;
Pengfei Yuan, Beijing, CN;
Shiyu Song, Sunnyvale, CA (US);
Beijing Baidu Netcom Science Technology Co., Ltd., Beijing, CN;
Abstract
The present application discloses a high-precision mapping method and device, which relates to the field of autonomous driving. A specific implementation includes: acquiring global initial poses of multiple point clouds, where the point clouds are point clouds of a location for which a map is to be built and are collected by a lidar using a multi-circle collection mode; dividing the multiple point clouds into multiple spatial submap graphs according to a spatial distribution relationship of the multiple point clouds; optimizing, for each spatial submap graph, global initial poses of point clouds belonging to the spatial submap graph to acquire global poses of the point clouds in each spatial submap graph; and stitching the multiple spatial submap graphs together according to global poses of the point clouds in the multiple spatial submap graphs to acquire a base graph of the map to be built.