US 12,266,074 B2
Method for generating high definition map, device and computer storage medium
Deguo Xia, Beijing (CN); Jizhou Huang, Beijing (CN); and Haifeng Wang, Beijing (CN)
Assigned to NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Appl. No. 17/758,692
Filed by BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
PCT Filed Nov. 17, 2021, PCT No. PCT/CN2021/131180
§ 371(c)(1), (2) Date Jul. 12, 2022,
PCT Pub. No. WO2022/257358, PCT Pub. Date Dec. 15, 2022.
Claims priority of application No. 202110637791.9 (CN), filed on Jun. 8, 2021.
Prior Publication US 2024/0185379 A1, Jun. 6, 2024
Int. Cl. G06T 3/14 (2024.01); G06T 5/80 (2024.01); G06T 7/38 (2017.01); G06T 7/70 (2017.01)
CPC G06T 3/14 (2024.01) [G06T 5/80 (2024.01); G06T 7/38 (2017.01); G06T 7/70 (2017.01)] 19 Claims
OG exemplary drawing
 
1. A method for generating a high definition map, comprising:
acquiring point cloud data and front-view image data which are collected respectively by a plurality of collecting devices at a plurality of location points, to obtain a sequence of point clouds and a sequence of front-view images;
performing registration of the front-view images and the point clouds on the sequence of point clouds and the sequence of front-view images, wherein adjacent front-view images are registered to obtain a set of registered front-view images, the point clouds of the sequence of point clouds are registered on a reference point cloud, and the registered point clouds are projected onto the obtained set of registered front-view images, so as to obtain coordinate information of pixels in the front-view images;
transforming the sequence of front-view images into a top-view image based on the result of the registration and determining coordinate information of pixels in the top-view image, comprising: transforming respectively the front-view images in the sequence of front-view images into top-view images based on inverse perspective transformation; performing matching on corresponding top-view images according to the coordinate information of pixels in the front-view images, so as to determine the coordinate information of pixels in the top-view images; and splicing the top-view images according to the coordinate information of the pixels in the top-view images, so as to obtain finally the top-view image; and
identifying map elements of the top-view image to obtain the high definition map.