Localising transportable apparatus
First Claim
1. A method of localising transportable apparatus within an environment, the method including:
- obtaining point cloud data representing a 3D point cloud including a plurality of points in a reference coordinate system of at least part of the environment;
obtaining first frame data representing a first image produced by an imaging sensor on board transportable apparatus at a first location within the environment;
obtaining second frame data representing a second image produced by the imaging sensor at a second location within the environment; and
determining a first subset of points in the first frame data that overlap with at least some of the plurality of points of the 3D point cloud in the reference coordinate system;
determining a second subset of points in the second frame data that overlap with at least some of the plurality of points of the 3D point cloud in the reference coordinate system, the first frame data being different than the second frame data;
determining a location within the 3D point cloud where the overlapping first subset of points in the first frame data and the overlapping second subset of points in the second frame data were produced, thereby localising the transportable apparatus within the environment;
obtaining a velocity of the transportable apparatus at a specified time;
comparing the specified time and the velocity to a time that the first frame or the second frame was captured; and
when the specified time and the velocity match the time that the first frame or the second frame was captured, verifying the location of the transportable apparatus within the 3D point cloud.
1 Assignment
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Accused Products
Abstract
Method and apparatus for localizing transportable apparatus (100) within an environment (120) includes obtaining (202) point cloud data (114) representing a 3D point cloud with appearance information of at least part of the environment. The method further obtains (204) first frame data (110) representing an image produced by a sensor (102) onboard transportable apparatus at a first time and location within the environment and second frame data (110) representing an image produced by the sensor at a second time and location within the environment. The method harmonizes (206) information about the first frame data, the second frame data and an overlapping subset of the point cloud data in order to determine a location within the point cloud data where at least one of the first frame and the second frame was produced, thereby localizing (208) the transportable apparatus within the environment.
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Citations
20 Claims
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1. A method of localising transportable apparatus within an environment, the method including:
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obtaining point cloud data representing a 3D point cloud including a plurality of points in a reference coordinate system of at least part of the environment; obtaining first frame data representing a first image produced by an imaging sensor on board transportable apparatus at a first location within the environment; obtaining second frame data representing a second image produced by the imaging sensor at a second location within the environment; and determining a first subset of points in the first frame data that overlap with at least some of the plurality of points of the 3D point cloud in the reference coordinate system; determining a second subset of points in the second frame data that overlap with at least some of the plurality of points of the 3D point cloud in the reference coordinate system, the first frame data being different than the second frame data; determining a location within the 3D point cloud where the overlapping first subset of points in the first frame data and the overlapping second subset of points in the second frame data were produced, thereby localising the transportable apparatus within the environment; obtaining a velocity of the transportable apparatus at a specified time; comparing the specified time and the velocity to a time that the first frame or the second frame was captured; and when the specified time and the velocity match the time that the first frame or the second frame was captured, verifying the location of the transportable apparatus within the 3D point cloud. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A transportable apparatus including:
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a device configured to obtain point cloud data representing a 3D point cloud including a plurality of points in a reference coordinate system of at least part of an environment; an imaging sensor configured to obtain first frame data representing a first image at a first location within the environment and second frame data representing a second image produced by the sensor at a second location within the environment; and a device configured to determine a first subset of points in the first frame data that overlap with at least some of the plurality of points of the 3D point cloud in the reference coordinate system and determine a second subset of points in the second frame data that overlap with at least some of the plurality of points of the 3D point cloud in the reference coordinate system for determining a location within the 3D point cloud where the overlapping first subset of points in the first frame data and the overlapping second subset of points in the second frame data was produced, the first frame data being different than the second frame data, thereby localising the transportable apparatus within the environment, wherein the device is configured to obtain a velocity of the transportable apparatus at a specified time, compare the specified time and the velocity to a time that the first frame or the second frame was captured, and verify the location of the transportable apparatus within the 3D point cloud when the specified time and the velocity match the time that the first frame or the second frame was captured. - View Dependent Claims (12)
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13. A non-transitory computer program product comprising instructions that when executed by one or more processors causes the one or more processors to perform a process for localising transportable apparatus within an environment, the process comprising:
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obtaining point cloud data representing a 3D point cloud including a plurality of points in a reference coordinate system of at least part of the environment; obtaining first frame data representing a first image produced by an imaging sensor on board transportable apparatus at a first location within the environment; obtaining second frame data representing a second image produced by the imaging sensor at a second location within the environment; determining a first subset of points in the first frame data that overlap with at least some of the plurality of points of the 3D point cloud in a reference coordinate system; determining a second subset of points in the second frame data that overlap with at least some of the plurality of points of the 3D point cloud, the second frame data being different than the first frame data; determining a location within the 3D point cloud where the overlapping first subset of points in the first frame data and the overlapping second subset of points in the second frame data was produced, thereby localising the transportable apparatus within the environment; obtaining a velocity of the transportable apparatus at a specified time; comparing the specified time and the velocity to a time that the first frame or the second frame was captured; and when the specified time and the velocity match the time that the first frame or the second frame was captured, verifying the location of the transportable apparatus within the 3D point cloud. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification