US 12,118,666 B2
Method, device and system for cooperatively constructing point cloud map
Qi Kong, Beijing (CN); and Jinfeng Zhang, Beijing (CN)
Assigned to BEIJING JINGDONG QIANSHI TECHNOLOGY CO., LTD., Beijing (CN)
Appl. No. 18/002,092
Filed by BEIJING JINGDONG QIANSHI TECHNOLOGY CO., LTD., Beijing (CN)
PCT Filed May 8, 2021, PCT No. PCT/CN2021/092280
§ 371(c)(1), (2) Date Dec. 16, 2022,
PCT Pub. No. WO2021/254019, PCT Pub. Date Dec. 23, 2021.
Claims priority of application No. 202010553190.5 (CN), filed on Jun. 17, 2020.
Prior Publication US 2023/0351686 A1, Nov. 2, 2023
Int. Cl. G06T 17/05 (2011.01); G06T 3/40 (2024.01); G06T 3/4038 (2024.01)
CPC G06T 17/05 (2013.01) [G06T 3/4038 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method for cooperatively constructing point cloud map, comprising:
obtaining point cloud data of different road sections respectively collected by a plurality of vehicles when they move on the corresponding road sections, wherein different vehicles correspond to different road sections in a preset route, and any adjacent first road section and second road section have an overlapping area;
determining a transformation matrix for transforming point cloud data of the second road section to point cloud data of the first road section using point cloud data of the overlapping area;
transforming the point cloud data of the second road section using the transformation matrix;
splicing the point cloud data of the first road section and the transformed point cloud data of the second road section to construct a point cloud map of the preset route;
obtaining point cloud data of a third road section in the preset route collected by any vehicle, wherein the third road section that is changed and a fourth road section that is unchanged in the preset route have an overlapping area;
determining a transformation matrix for transforming point cloud data of the third road section to point cloud data of the fourth road section using point cloud data of the overlapping area;
transforming the point cloud data of the third road section using the transformation matrix;
splicing the point cloud data of the fourth road section and the transformed point cloud data of the third road section to construct a point cloud map of the preset route.