Visual odometry and pairwise alignment for determining a position of an autonomous vehicle
US10309778B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 27, 2017 |
| Grant date | Jun 4, 2019 |
| Priority date | — |
| Expiry date | Dec 27, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2215/12
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
As an autonomous vehicle moves through a local area, pairwise alignment may be performed to calculate changes in the pose of the vehicle between different points in time. The vehicle comprises an imaging system configured to capture image frames depicting a portion of the surrounding area. Features are identified from the captured image frames, and a 3-D location is determined for each identified feature. The features of different image frames corresponding to different points in time are analyzed to determine a transformation in the pose of the vehicle during the time period between the image frames. The determined poses of the vehicle are used to generate an HD map of the local area.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.