LiDAR odometry method, system and apparatus based on directed geometric point and sparse frame
US11300664B1 · kind B1 · utility
Assignees
Inventors
Key dates
| Filing date | Oct 13, 2021 |
| Grant date | Apr 12, 2022 |
| Priority date | — |
| Expiry date | Oct 13, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/10028
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A LiDAR odometry method based on the directed geometric point and sparse frame includes: obtaining original three-dimensional point cloud data of a surrounding environment in the coordinate system of the current frame of the LiDAR sensor; constructing and converting the first directed geometric point set and first environmental directed geometric point set into the second directed geometric point set and second environmental directed geometric point set in the world coordinate system, respectively; calculating candidate associated points in the second environmental directed geometric point set in association with each point in the second directed geometric point set, and determining the best associated point of each point in the second directed geometric point set; constructing and solving a pose optimization function to obtain an optimized pose from the coordinate system of the current frame of the LiDAR sensor to the world coordinate system; and updating directed geometric point sets of sparse frames.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.