基于三维激光雷达高精度地图生成测绘背包研究

Research on Mapping Backpack Generation Based on High-precision Map Based on 3D Lidar

基于高精度地图自动驾驶技术路线,被业界普遍认为是可靠实现L4级、L5级自动驾驶解决方案.这主要是因为,在高精度定位、环境感知、路径规划以及模拟实验等方面,高精度地图能够为自动驾驶车辆提供丰富先验地图信息,起到至关重要作用.针对封闭园区等环境高精度地图生成问题,以三维激光雷达为主进行多传感器融合,因子图优化对高精度地图生成算法进行优化,并对算法工程化,进行高精度地图生成背包研究.

With the rise of artificial intelligence revolution in recent years,the national development strategy of autonomous driving intelligent vehicles has gradually become one of the hottest research fields,and the autonomous driving technology route based on high-precision maps is generally regarded by the industry as a reliable solution to achieve L4 and L5 automatic driving.This is mainly due to the reason of high-precision maps,which can provide rich prior map information for autonomous vehicles in high-precision positioning,environmental perception,path planning and simulation experiments,which plays a vital role.Aiming at the problem of high-precision map generation in closed parks and other environments,in this paper,used 3D lidar,multi-sensor fusion is carried out,used factor map optimization,the highprecision map generation algorithm is optimized,and engineered the algorithm,the high-precision map generation backpack is studied.