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Autoware 自动驾驶高精度地图配准过程图鉴

  • 2026-04-23 16:19:29
Autoware 自动驾驶高精度地图配准过程图鉴
第1张：Autoware 叠加地图坐标原点配准，启动车辆后查看实际的配准效果。
第2张：卫星影像底图叠加，大概确定你的经纬度位置即可。
第3张：叠加转换后的UTM系2D点云，用点云扫描的建筑边界和地图道路边线叠加固定位置，以此来确定偏移参数。
第4张：围绕村庄跑几个大圈圈扫一扫，为后续的精准道路调整做准备。
第5张：先调整第1条道路，用三根线将点云和道路固定住，微调偏移参数，直到找到最佳位置即可。
第6张：启动 autoware 加载点云和道路网线。
第7张：查看atuoware局部对齐效果。
第8张：来个全部点云图，虽然是黑白的，但对于autoware来说，足够用了。没有那么多花哨的东西。
第9张：查看一下点云局部效果，点云也不是那么密哈。
第10张：丢弃模糊的影像底图，以2D点云为底图，精确纠正道路网线。
第11张：看一个局部路口精确调整的效果。
总结：
本文实现了一种在没有高清卫星影像底图的情况下，在复杂多丛林环境中实现高精度地图建图的一种方法。
本文来自网友投稿或网络内容，如有侵犯您的权益请联系我们删除，联系邮箱：wyl860211@qq.com 。

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  1. CONNECT:[ UseTime:0.000385s ] mysql:host=127.0.0.1;port=3306;dbname=e_mffb;charset=utf8mb4
  2. SHOW FULL COLUMNS FROM `fenlei` [ RunTime:0.000575s ]
  3. SELECT * FROM `fenlei` WHERE `fid` = 0 [ RunTime:0.002066s ]
  4. SELECT * FROM `fenlei` WHERE `fid` = 63 [ RunTime:0.003070s ]
  5. SHOW FULL COLUMNS FROM `set` [ RunTime:0.000736s ]
  6. SELECT * FROM `set` [ RunTime:0.004162s ]
  7. SHOW FULL COLUMNS FROM `article` [ RunTime:0.000738s ]
  8. SELECT * FROM `article` WHERE `id` = 488537 LIMIT 1 [ RunTime:0.006183s ]
  9. UPDATE `article` SET `lasttime` = 1777715488 WHERE `id` = 488537 [ RunTime:0.007847s ]
  10. SELECT * FROM `fenlei` WHERE `id` = 67 LIMIT 1 [ RunTime:0.001688s ]
  11. SELECT * FROM `article` WHERE `id` < 488537 ORDER BY `id` DESC LIMIT 1 [ RunTime:0.007133s ]
  12. SELECT * FROM `article` WHERE `id` > 488537 ORDER BY `id` ASC LIMIT 1 [ RunTime:0.006917s ]
  13. SELECT * FROM `article` WHERE `id` < 488537 ORDER BY `id` DESC LIMIT 10 [ RunTime:0.009519s ]
  14. SELECT * FROM `article` WHERE `id` < 488537 ORDER BY `id` DESC LIMIT 10,10 [ RunTime:0.007341s ]
  15. SELECT * FROM `article` WHERE `id` < 488537 ORDER BY `id` DESC LIMIT 20,10 [ RunTime:0.012560s ]
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