System and method for centimeter precision localization using camera-based submap and LiDAR-based global map
US10223806B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 23, 2017 |
| Grant date | Mar 5, 2019 |
| Priority date | — |
| Expiry date | Aug 23, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: constructing a 3D submap and a global map; extracting features from the 3D submap and the global map; matching features extracted from the 3D submap against features extracted from the global map; refining feature correspondence; and refining location of the 3D submap.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.