Iterative closest point process based on lidar with integrated motion estimation for high definition maps
US11353589B2 · kind B2 · utility
1Cited by
1References
39Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Nov 16, 2018 |
| Grant date | Jun 7, 2022 |
| Priority date | — |
| Expiry date | Mar 6, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S17/42
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A system align point clouds obtained by sensors of a vehicle using kinematic iterative closest point with integrated motions estimates. The system receives lidar scans from a lidar mounted on the vehicle. The system derives point clouds from the lidar scan data. The system iteratively determines velocity parameters that minimize an aggregate measure of distance between corresponding points of the plurality of pairs of points. The system iteratively improves the velocity parameters. The system uses the velocity parameters for various purposes including for building high definition maps used for navigating the vehicle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.