US 11,725,944 B2
Method, apparatus, computing device and computer-readable storage medium for positioning
Shenhua Hou, Beijing (CN); Wendong Ding, Beijing (CN); Hang Gao, Beijing (CN); Guowei Wan, Beijing (CN); and Shiyu Song, Beijing (CN)
Assigned to APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO, LTD., Beijing (CN)
Filed by APOLLO INTELLIGENT DRIVING TECHNOLOGY (BEIJING) CO., LTD., Beijing (CN)
Filed on Mar. 2, 2020, as Appl. No. 16/806,331.
Prior Publication US 2021/0270609 A1, Sep. 2, 2021
Int. Cl. G01C 21/30 (2006.01); G01S 17/89 (2020.01); G01S 17/06 (2006.01); G01C 21/16 (2006.01); G01C 21/00 (2006.01)
CPC G01C 21/165 (2013.01) [G01C 21/1652 (2020.08); G01C 21/30 (2013.01); G01C 21/3804 (2020.08); G01S 17/06 (2013.01); G01S 17/89 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method, comprising:
obtaining inertial measurement data of a device at a first time and point cloud data collected by a LiDAR on the device at the first time;
determining, by integrating the inertial measurement data, inertial positioning information of the device in an inertial coordinate system at the first time based on the inertial measurement data; and
determining, based on the inertial positioning information, the point cloud data and at least one local map built in a local coordinate system, a first positioning result of the device in the local coordinate system at the first time,
wherein the at least one local map is built based on a plurality of frames of historical point cloud data collected by the LiDAR on the device, and
wherein the determining the first positioning result comprises:
determining a first posterior probability associated with the first positioning result based on a second positioning result of the device at a second time prior to the first time, the point cloud data, the inertial positioning information, and the at least one local map; and
determining the first positioning result by maximizing the first posterior probability.