3D point cloud map alignment with open street map for outdoor 6D localization on mobile platforms
US11487022B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 6, 2019 |
| Grant date | Nov 1, 2022 |
| Priority date | — |
| Expiry date | Mar 3, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method of mapping and localization is disclosed that includes, reconstructing a point cloud and a camera pose based on VSLAM, synchronizing the camera pose and a GPS timestamp at a first set of GPS coordinate points and transforming the first set of GPS coordinate points corresponding to the GPS timestamp into a first set of ECEF coordinate points. The method also includes determining a translation and a rotation between the camera pose and the first set of ECEF coordinate points, transforming the point cloud and the camera pose into a second set of ECEF coordinates based on the translation and the rotation and transforming the point cloud and the camera pose into a second set of GPS coordinate points. The method further includes constructing and storing a key-frame image, a key-frame timestamp and a key-frame GPS based on the second set of GPS coordinate points.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.