Feature extraction from 3D submap and global map system and method for centimeter precision localization using camera-based submap and lidar-based global map
US10223807B1 · 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 primaryG06T2207/10032
- 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 utilizing one or more autonomous vehicle driving modules that execute processing of images from a camera and data from a LiDAR the following steps comprising: aligning a 3D submap with a global map; extracting features from the 3D submap and the global map; classifying the extracted features in classes; and establishing correspondence of features in a same class between the 3D submap and the global map.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.