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System and method for precision localization and mapping

  • US 10,215,571 B2
  • Filed: 02/15/2018
  • Issued: 02/26/2019
  • Est. Priority Date: 08/09/2016
  • Status: Active Grant
First Claim
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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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