METHOD AND APPARATUS FOR POSITIONING COMPUTING DEVICE COMPUTER-READABLE STORAGE MEDIUM AND COMPUTER PROGRAM STORED IN MEDIUM

摘要

The present application discloses a method for positioning, a computing device, a computer-readable storage medium, and a computer program, and relates to the field of automatic driving. The method includes: acquiring inertial measurement data of a current time point of a device to be positioned and point cloud data collected at a current time point by LiDAR on the device; determining inertial positioning information in an inertial coordinate system at a current time point of the device through integrating the inertial measurement data; and determining a positioning result in the local coordinate system of the current viewpoint of the device based on the inertial positioning information, the point cloud data, and at least one local map constructed in the local coordinate system. The implementation method of the present disclosure can provide an effective and stable local positioning result.