Abstract: The present disclosure provides a method and a device for positioning, an apparatus and a computer readable storage medium. The method includes acquiring a visual feature map of a geographic area located by a movable object. The visual feature map includes a first set of visual features. The method further includes acquiring at least one image captured by a camera coupled to the movable object during a motion of the movable object within the geographic area. The method further includes extracting a second set of visual features corresponding to the first set of visual features from the at least one image. In addition, the method further includes determining at least one pose of the movable object during the motion at least based on the visual feature map and the second set of visual features.

Abstract: In a specific implementation of the method a reflectance map is constructed based on a position and an Euler angle, obtained through a global optimization and used for constructing a reflectance map, of a center of a laser radar corresponding to each frame laser point cloud used for constructing the reflectance map collected in each collection region. This implementation implements the level-by-level pose optimization of laser point clouds used for constructing a reflectance map that are collected in each collection region in an excessively large region, to obtain an accurate position and Euler angle, used for constructing the reflectance map, of a laser radar center corresponding to each frame laser point cloud used for constructing the reflectance map.

Abstract: The present application discloses a method and apparatus for updating a map. An implementation of the method comprises: acquiring a laser point clouds obtained by scanning a surrounding environment and acquiring a periodic pose change of a vehicle in a scanning period; determining an a priori pose of the laser radar at a reference time in the current scanning period based on a known pose of the laser radar in a previous scanning period and the periodic pose change; performing motion compensation on the scanned laser point clouds to form a compensated point cloud frame; generating a partial point cloud characteristic map; matching the partial point cloud characteristic map with a map area obtained in a reference point cloud map, and correcting the a priori pose to obtain an a posteriori pose; and updating a three-dimensional point cloud map of a to-be-constructed area using the compensated point cloud frame.

Abstract: A specific implementation of the method includes: constructing a reflectance map based on a position and an Euler angle, obtained through a global pose optimization and used for constructing a reflectance map, of a center of a laser radar corresponding to each frame laser point cloud used for constructing the reflectance map. This implementation implements the level-by-level pose optimization of key frame laser point clouds, sample frame laser point clouds, regular frame laser point clouds selected from laser point clouds used for constructing a reflectance map, to obtain an accurate position and Euler angle, used for constructing the reflectance map, of a center of the laser radar corresponding to each frame laser point cloud used for constructing the reflectance map, so that accurate coordinates of laser points in each frame laser point cloud used for constructing the reflectance map in a world coordinate system can be obtained.

Abstract: The present disclosure provides a method and a device for positioning, an apparatus and a computer readable storage medium. The method includes acquiring a visual feature map of a geographic area located by a movable object. The visual feature map includes a first set of visual features. The method further includes acquiring at least one image captured by a camera coupled to the movable object during a motion of the movable object within the geographic area. The method further includes extracting a second set of visual features corresponding to the first set of visual features from the at least one image. In addition, the method further includes determining at least one pose of the movable object during the motion at least based on the visual feature map and the second set of visual features.

Abstract: The present disclosure discloses a method, apparatus and server for constructing a map. An embodiment of the method comprises: building a point cloud data frame sequence using point cloud data frames acquired in real time; extracting morphological data from the point cloud data frames; establishing a spatial position relation between the morphological data of two adjacent point cloud data frames in the point cloud data frame sequence; determining a reference spatial position relation corresponding to a stationary object based on the spatial position relation, and constructing a map with the reference spatial position relation. The present embodiment realizes constructing a map with the point cloud data.

Abstract: A specific implementation of the method comprises: constructing a reflectance map based on a position and an Euler angle, obtained through a global pose optimization and used for constructing a reflectance map, of a center of a laser radar corresponding to each frame laser point cloud used for constructing the reflectance map. This implementation implements the level-by-level pose optimization of key frame laser point clouds, sample frame laser point clouds, regular frame laser point clouds selected from laser point clouds used for constructing a reflectance map, to obtain an accurate position and Euler angle, used for constructing the reflectance map, of a center of the laser radar corresponding to each frame laser point cloud used for constructing the reflectance map, so that accurate coordinates of laser points in each frame laser point cloud used for constructing the reflectance map in a world coordinate system can be obtained.

Abstract: A specific implementation of the method includes: constructing a reflectance map based on a position and an Euler angle, obtained through a global optimization and used for constructing a reflectance map, of a center of a laser radar corresponding to each frame laser point cloud used for constructing the reflectance map collected in each collection region. This implementation implements the level-by-level pose optimization of laser point clouds used for constructing a reflectance map that are collected in each collection region in an excessively large region, to obtain an accurate position and Euler angle, used for constructing the reflectance map, of a laser radar center corresponding to each frame laser point cloud used for constructing the reflectance map, so that accurate coordinates of laser points in each frame laser point cloud used for constructing the reflectance map in a world coordinate system may be obtained.

Abstract: The present disclosure discloses a method, apparatus and server for constructing a map. An embodiment of the method comprises: building a point cloud data frame sequence using point cloud data frames acquired in real time; extracting morphological data from the point cloud data frames; establishing a spatial position relation between the morphological data of two adjacent point cloud data frames in the point cloud data frame sequence; determining a reference spatial position relation corresponding to a stationary object based on the spatial position relation, and constructing a map with the reference spatial position relation. The present embodiment realizes constructing a map with the point cloud data.

Abstract: The present application discloses a method and apparatus for updating a map. An implementation of the method comprises: acquiring a laser point clouds obtained by scanning a surrounding environment and acquiring a periodic pose change of a vehicle in a scanning period; determining an a priori pose of the laser radar at a reference time in the current scanning period based on a known pose of the laser radar in a previous scanning period and the periodic pose change; performing motion compensation on the scanned laser point clouds to form a compensated point cloud frame; generating a partial point cloud characteristic map; matching the partial point cloud characteristic map with a map area obtained in a reference point cloud map, and correcting the a priori pose to obtain an a posteriori pose; and updating a three-dimensional point cloud map of a to-be-constructed area using the compensated point cloud frame.

Abstract: The present application discloses a vehicle navigation method and apparatus. In some embodiments, the method includes: collecting a road condition image; deciding whether a lane currently traveled by a vehicle is a navigation lane; determining a lane object in the road condition image on which a guiding track object is to be superimposed and displayed, the guiding track object adapted to instruct the vehicle to travel along the lane currently traveled by the vehicle, or to instruct the vehicle to turn to the navigation lane; and superimposing and displaying the guiding track object on the determined lane object. According to the current vehicle position and the navigation route, by superimposing and displaying the guiding track object on the lane traveled by the vehicle, the driver is intuitively guided to drive the vehicle in the lane where the vehicle should be driven, thus navigating the vehicle more accurately.