Determining the kinetic state of a body using LiDAR point cloud registration with importance sampling
US10891744B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 13, 2019 |
| Grant date | Jan 12, 2021 |
| Priority date | — |
| Expiry date | Jul 31, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30261
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of estimating a kinetic state of a rigid body is disclosed. A LiDAR sensor receives multiple point clouds. A processor determined a rigid body transform for a pair of the received point clouds and obtains a sample space of previous rigid body transforms. The processor then identifies a proposal distribution that represents the probability that any rigid body transform in the sample space best aligns a subset of points of a first point cloud of the pair to a subset of points in a second point cloud of the pair. The processor then uses importance sampling to identify a probability distribution for the rigid body transform that best aligns the subsets of points, It then uses the identified probability distribution and a history of probability distributions to estimate a kinetic state of the rigid body.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.