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3D Reproduction of Real Scenes
The three-dimensional reproduction of real scenes, or so-called high-precision maps, has become an indispensable part of autonomous driving. It mainly consists of high-precision 3D scene models and semantic information. The three-dimensional reproduction of real scenes is mainly used in two ways:
1) It is used to match the information detected by the environment perception sensors in real time, which is aimed at positioning the vehicle with high precision.
2) It is used to truly represent the real scene in the simulation environment, which can make the substitution of real road test by the simulation-based test possible. Its high valid representation of the driving environment ensures high availability of simulation test results.
There are two main methods for collecting real scenes (or high-precision maps):
1) Modeling based on the laser sweep of vehicle-mounted lidar;
2) Modeling based on oblique photography using a special camera mounted on an aircraft.
Oblique Photography
PilotD has launch a service based on oblique photography with a partner in China, to build and reproduce real scenes. Compared to the traditional modeling based on the sweep of on-board lidar, this solution has the following advantages:
1) Absolute accuracy and relative accuracy up to 10 cm;
2) In addition to roads, surrounding buildings and road attachments can be recorded and modeled. This guarantees the highest valid representation of the model;
3) The built model directly comes with a real texture (obtained directly by photographing, not by a post-processing);
4) Higher efficiency;
5) More suitable for camera-based location matching (SLAM), or image recognition (deep learning training and testing).