一种应用于城市区域路口自动驾驶地图构建的路口范围检测方法 [发明]
Published in , 2022
patent.
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Publications
一种基于车端众包轨迹的城市路口自动驾驶指引线生成方法 [发明]
Published in , 2022
patent.
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一种基于点云柱体化表达，结合时空注意力机制的矢量地图融合方法 [发明]
Published in , 2022
patent.
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一种基于优化的众包地图与高精地图几何融合修复方法 [发明]
Published in , 2022
patent.
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一种基于地理围栏触发的，用于消除功能设计关闭区域的高精地图几何众包更新方法 [发明]
Published in , 2022
patent.
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一种应用于地图更新的变更源评测，排重，继承中的变更源表达以及相似性计算方法 [发明]
Published in , 2022
patent.
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一种分离位姿估计自由度的结合2D高精地图的两阶段众包地图匹配对齐方法 [发明]
Published in , 2022
patent.
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一种基于位姿图优化的多源，多时相，多模态众包地图匹配对齐方法 [发明]
Published in , 2022
patent.
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一种参考局部拓扑结构的两阶段地图差分，变化发现方法 [发明]
Published in , 2022
patent.
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Coarse-to-fine Semantic Localization with HD Map for Autonomous Driving In Structural Scenes
Published in , 2021
vision localization
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一种虚拟车辆寻路的方法、装置、存储介质和电子设备
Published in , 2019
patent.
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Direct Sparse Visual-Inertial Odometry with Stereo Cameras
Published in https://udel.edu/~ghuang/iros19-vins-workshop/, 2019
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Illumination-Robust Subpixel Fourier-Based Image Correlation Methods Based on Phase Congruency
Published in IEEE Transactions on Geoscience and Remote Sensing, 2019
This paper presents a novel illumination-robust subpixel Fourier-based image correlation method based on phase congruency.
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一种基于投影坐标系的高精地图制作方法及车载设备 [发明]
Published in , 2019
patent.
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Analysis of Satellite Attitude Post-Processing Method and Research on Stereo Geo-Positioning Under Attitude Optimization
Published in Master Thesis, 2018
satellite attitude estimation method
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基于多层中轴点拟合的古塔变形监测
Published in Journal of Tongji University, 2018
This paper presents a practical novel approach for tilt measurement of ancient pagodas and the criterion quality evaluation.
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基于无线通信基站的室内三维定位问题
Published in 枫林学苑, 2017
关于基于无线通信基站的室内定位数学解决方法
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HIGH-PRECISION ATTITUDE ESTIMATION METHOD OF STAR SENSORS AND GYRO BASED ON COMPLEMENTARY FILTER AND UNSCENTED KALMAN FILTER
Published in 2017 International Symposium on Planetary Remote Sensing and Mapping, 2017
The paper proposes an on-orbit attitude estimation method of star sensors and gyro based on Complementary Filter (CF) and Unscented Kalman Filter (UKF).
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一种有效的影像中椭圆形目标提取方法
Published in ELECTRONIC MEASUREMENT TECHNOLOGY, 2017
图像中椭圆形测量标志点的自动提取方法
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一种基于语义边缘对齐的由粗到精的多传感器融合定位方法 [patent]
Published in , 1900
本发明涉及无人驾驶、视觉定位技术领域，具体来说是一种基于语义边缘对齐的由粗到精的多传感器融合定位方法，包括获取高精地图、原始图像、消费级的车载GPS以及轮子里程计的步骤，本发明是一种低成本的以视觉传感器为主的高精定位方法，通过融合里程计和车载GPS信息获得鲁棒的定位结果，通过提取图像中稳定的语义特征，进行语义边缘对齐来得到车辆位姿的估计，对齐的方式不需要显式的进行三维地图特征和二维图像特征的数据关联，而是隐式的通过最小化投影点的光度残差来进行位姿的估计。