Method and apparatus for constructing reflectance map
US10627520B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 1, 2017 |
| Grant date | Apr 21, 2020 |
| Priority date | — |
| Expiry date | Jul 6, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10028
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A specific implementation of the method includes: constructing a reflectance map based on a position and an Euler angle, obtained through a global pose optimization and used for constructing a reflectance map, of a center of a laser radar corresponding to each frame laser point cloud used for constructing the reflectance map. This implementation implements the level-by-level pose optimization of key frame laser point clouds, sample frame laser point clouds, regular frame laser point clouds selected from laser point clouds used for constructing a reflectance map, to obtain an accurate position and Euler angle, used for constructing the reflectance map, of a center of the laser radar corresponding to each frame laser point cloud used for constructing the reflectance map, so that accurate coordinates of laser points in each frame laser point cloud used for constructing the reflectance map in a world coordinate system can be obtained.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.