Map segmentation method and device, motion estimation method, and device terminal
US11741615B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 2, 2021 |
| Grant date | Aug 29, 2023 |
| Priority date | — |
| Expiry date | Dec 4, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2207/30244
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A map segmentation method and device, a motion estimation method, and a device terminal. Obtaining all map point data and constructing a corresponding graph based on these map points, where the graph includes each node formed by map points and corresponding edges; measuring and estimating to-be-estimated state variables corresponding to the node to obtain a corresponding measured and estimated value, where the to-be-estimated state variables include homogeneous coordinates of the node and a corresponding sensor pose upon node obtaining; calculating an inter-point correlation between any two adjacent nodes in the graph based on the measured and estimated value to determine whether the inter-point correlation is less than a preset correlation threshold; and when the inter-point correlation is less than the preset correlation threshold, removing an edge corresponding to the corresponding adjacent nodes, to separate the static points and the dynamic points and complete map segmentation.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.