Updated point cloud registration pipeline based on ADMM algorithm for autonomous vehicles
US11521329B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 22, 2019 |
| Grant date | Dec 6, 2022 |
| Priority date | — |
| Expiry date | Feb 10, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
In one embodiment, a system and method for point cloud registration of LIDAR poses of an autonomous driving vehicle (ADV) is disclosed. The method selects poses of the point clouds that possess higher confidence level during the data capture phase as fixed anchor poses. The fixed anchor points are used to estimate and optimize the poses of non-anchor poses during point cloud registration. The method may partition the points clouds into blocks to perform the ICP algorithm for each block in parallel by minimizing the cost function of the bundle adjustment equation updated with a regularity term. The regularity term may measure the difference between current estimates of the poses and previous or the initial estimates. The method may also minimize the bundle adjustment equation updated with a regularity term when solving the pose graph problem to merge the optimized poses from the blocks to make connections between the blocks.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.