Feature matching and correspondence refinement and 3D submap position refinement system and method for centimeter precision localization using camera-based submap and LiDAR-based global map
US10565457B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 23, 2017 |
| Grant date | Feb 18, 2020 |
| Priority date | — |
| Expiry date | Mar 2, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T17/05
- WIPO fieldMeasurement
- WIPO sectorInstruments
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: computing, in response to features from a 3D submap and features from a global map, matching score between corresponding features of a same class between the 3D submap and the global map; selecting, for each feature in the 3D submap, a corresponding feature with the highest matching score from the global map; determining a feature correspondence to be invalid if a distance between corresponding features is larger than a threshold; and removing the invalid feature correspondence.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.