Camera based localization for autonomous vehicles
US10928207B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 1, 2019 |
| Grant date | Feb 23, 2021 |
| Priority date | — |
| Expiry date | Jul 22, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Camera based localization performed to determine a current pose of an autonomous vehicle without the aid of depth sensors such as LiDAR. The vehicle comprises an imaging system configured to capture image frames depicting portions of the surrounding area. Based on an initial pose of the vehicle, edgels corresponding to three-dimensional locations are loaded and mapped to corresponding edge pixels of the captured image frame. A pose of the vehicle is optimized based upon the determined correspondences by identifying a transformation that minimizes a distance between the edgels and their corresponding edge pixels. The determined transformation can be applied to the initial pose to determine an updated pose of the vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.