System and method for precision localization and mapping
First Claim
1. A method for localization and mapping, comprising:
- at a camera mounted to a first vehicle, the first vehicle associated with a first global system location and a location error, recording a sequence of images in response to the location error exceeding a threshold error value;
identifying a landmark depicted in an image of the sequence of images with a landmark identification module of a computing system associated with the vehicle, the landmark associated with a landmark geographic location and a known dimension;
identifying the landmark in each of the sequence of images;
extracting a landmark pose from the image, based on the known dimension of the landmark, with a feature extraction module of the computing system;
extracting a corresponding landmark pose from each of the sequence of images;
determining, at the computing system, a relative position between the vehicle and the landmark geographic location based on the landmark pose;
determining a temporal pattern based on the corresponding landmark pose extracted from each of the sequence of images;
determining a vehicle trajectory based on the temporal pattern, wherein the vehicle is controlled along the vehicle trajectory based on the location error, and wherein the vehicle is an autonomous vehicle;
updating, at the computing system, the first global system location based on the relative position;
setting the location error to an error value below the threshold error value in response to updating the global system location;
determining, at the computing system, a speed value and heading value associated with the vehicle, wherein the speed value is associated with a speed error and the heading value is associated with a heading error;
continuously updating the first global system location based on the speed value and heading value; and
continuously incrementing the location error in proportion to an elapsed time subsequent to updating the global system location and based on the speed error and the heading error.
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Abstract
A method for localization and mapping, including recording an image at a camera mounted to a vehicle, the vehicle associated with a global system location; identifying a landmark depicted in the image with a landmark identification module of a computing system associated with the vehicle, the identified landmark having a landmark geographic location and a known parameter; extracting a set of landmark parameters from the image with a feature extraction module of the computing system; determining, at the computing system, a relative position between the vehicle and the landmark geographic location based on a comparison between the extracted set of landmark parameters and the known parameter; and updating, at the computing system, the global system location based on the relative position.
143 Citations
7 Claims
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1. A method for localization and mapping, comprising:
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at a camera mounted to a first vehicle, the first vehicle associated with a first global system location and a location error, recording a sequence of images in response to the location error exceeding a threshold error value; identifying a landmark depicted in an image of the sequence of images with a landmark identification module of a computing system associated with the vehicle, the landmark associated with a landmark geographic location and a known dimension; identifying the landmark in each of the sequence of images; extracting a landmark pose from the image, based on the known dimension of the landmark, with a feature extraction module of the computing system; extracting a corresponding landmark pose from each of the sequence of images; determining, at the computing system, a relative position between the vehicle and the landmark geographic location based on the landmark pose; determining a temporal pattern based on the corresponding landmark pose extracted from each of the sequence of images; determining a vehicle trajectory based on the temporal pattern, wherein the vehicle is controlled along the vehicle trajectory based on the location error, and wherein the vehicle is an autonomous vehicle; updating, at the computing system, the first global system location based on the relative position; setting the location error to an error value below the threshold error value in response to updating the global system location; determining, at the computing system, a speed value and heading value associated with the vehicle, wherein the speed value is associated with a speed error and the heading value is associated with a heading error; continuously updating the first global system location based on the speed value and heading value; and continuously incrementing the location error in proportion to an elapsed time subsequent to updating the global system location and based on the speed error and the heading error. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification