Coordinate gradient method for point cloud registration for autonomous vehicles
US11688082B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 22, 2019 |
| Grant date | Jun 27, 2023 |
| Priority date | — |
| Expiry date | Apr 27, 2042 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30252
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
In one embodiment, a system and method for partitioning a region for point cloud registration of LIDAR poses of an autonomous driving vehicle (ADV) using a regional iterative closest point (ICP) algorithm is disclosed. The method determines the frame pair size of one or more pairs of related LIDAR poses of a region of an HD map to be constructed. If the frame pair size is greater than a threshold, the region is further divided into multiple clusters. The method may perform the ICP algorithm for each cluster. Inside a cluster, the ICP algorithm focuses on a partial subset of the decision variables and assumes the rest of the decision variables are fixed. To construct the HD map, the method may determine if the results of the ICP algorithms from the clusters converge. If the solutions converge, a solution to the point cloud registration for the region is found.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.