System and method for vehicle position and velocity estimation based on camera and lidar data
US10552691B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 25, 2017 |
| Grant date | Feb 4, 2020 |
| Priority date | — |
| Expiry date | Apr 25, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/166
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A vehicle position and velocity estimation based on camera and LIDAR data are disclosed. A particular embodiment includes: receiving input object data from a subsystem of an autonomous vehicle, the input object data including image data from an image generating device and distance data from a distance measuring device; determining a two-dimensional (2D) position of a proximate object near the autonomous vehicle using the image data received from the image generating device; tracking a three-dimensional (3D) position of the proximate object using the distance data received from the distance measuring device over a plurality of cycles and generating tracking data; determining a 3D position of the proximate object using the 2D position, the distance data received from the distance measuring device, and the tracking data; determining a velocity of the proximate object using the 3D position and the tracking data; and outputting the 3D position and velocity of the proximate object relative to the autonomous vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.