US 11,852,751 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 Beijing Baidu Netcom Science and Technology Co., Ltd., Beijing (CN)
Filed by Beijing Baidu Netcom Science and Technology Co., Ltd., Beijing (CN)
Filed on Mar. 2, 2020, as Appl. No. 16/806,442.
Prior Publication US 2021/0270612 A1, Sep. 2, 2021
Int. Cl. G01C 21/30 (2006.01); G01S 17/42 (2006.01); G01S 17/89 (2020.01); G01S 7/48 (2006.01); G06F 18/25 (2023.01)
CPC G01S 7/4808 (2013.01) [G01C 21/30 (2013.01); G01S 17/42 (2013.01); G01S 17/89 (2013.01); G06F 18/251 (2023.01)] 18 Claims
OG exemplary drawing
 
1. A method, comprising:
obtaining point cloud data collected by a LiDAR on a device at a first time;
determining, based on the point cloud data and a global map built in a global coordinate system, first global positioning information of the device in the global coordinate system at the first time;
determining, based on the point cloud data and a first local map built in a local coordinate system, first local positioning information of the device in the local coordinate system at the first time, wherein the first local map includes a number of frames of historical point cloud and is updated by incorporating the point cloud data at the first time until the number of frames reaches a threshold;
determining, based on at least the first global positioning information and the first local positioning information, a first positioning result of the device at the first time;
in a case that the number of frames in the first local map reaches the threshold, building a second local map by incorporating the point cloud data and frames of point cloud data after the first time; and
in a case that a number of frames in the second local map reaches the threshold, discarding the first local map.