An Optimization-Based Method for Geometric Fusion and Repair of Crowdsourced Maps and HD Maps [Patent]
Published:
This invention relates to the technical field of autonomous driving and specifically provides a vector map repair method, computer device, and computer-readable storage medium, aiming to solve the problem of effectively repairing vector maps. To this end, the method provided by this invention includes: obtaining the visual-perception vector map corresponding to the area where a problematic lane line in the LiDAR-perception vector map is located, and obtaining the visual vector lane line in the visual-perception vector map that is associated with the problematic lane line, where the problematic lane line is the LiDAR vector lane line to be repaired; fusing the problematic lane line with the visual vector lane line to obtain a fused lane line; and replacing the problematic lane line with the fused lane line to repair it. Based on the above approach, the lane-line information of both the problematic lane line and the visual vector lane line can be comprehensively utilized to obtain a relatively accurate fused lane line, which is then used to complete the repair of the problematic lane line.
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