3D submap reconstruction system and method for centimeter precision localization using camera-based submap and LiDAR-based global map
US10762673B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Aug 23, 2017 |
| Grant date | Sep 1, 2020 |
| Priority date | — |
| Expiry date | Dec 24, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2211/424
- 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: voxelizing a 3D submap and a global map into voxels; estimating distribution of 3D points within the voxels, using a probabilistic model; extracting features from the 3D submap and the global map; and classifying the extracted features into classes.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.