Patent ID: 11953609
Assignee: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC G

Claim 1:
2. The method according to claim 1, wherein the global pose information comprises previous-frame global pose information and current-frame global pose information, and a previous frame and a current frame are two adjacent frames in images in a traveling process of the vehicle; the performing fusion processing on the global pose information and the local pose information to obtain fused pose information comprises:
determining a first inter-frame relative pose of the vehicle between two adjacent frames according to the previous-frame global pose information and the current-frame global pose information; and
determining a global confidence degree of the global pose information according to the first inter-frame relative pose and the local pose information, and if the global confidence degree reaches a preset global confidence degree threshold, performing fusion processing on the global pose information and the local pose information to obtain the fused pose information, wherein the preset global confidence degree threshold is set by the positioning apparatus based on means of requirements, historical records and tests, and is used to represent a reliability degree of the global pose information.