SYSTEM AND METHOD FOR MAPPING, LOCALIZATION AND POSE CORRECTION
First Claim
1. A computer-implemented method for mapping, localization and pose correction, comprising:
- determining a current position of a vehicle along a travel route and a set of currently observable landmarks along the travel route relative to the current position, the set of currently observable landmarks extracted from one or more stereo images obtained from an imaging device;
querying a survey landmark database to identify a subset of surveyed landmarks relative to the current position of the vehicle, the survey landmark database comprising a set of surveyed landmarks previously stored;
determining one or more two-dimensional transform estimates between the set of currently observable landmarks and the subset of surveyed landmarks;
identifying a best transform estimate from the one or more two-dimensional transform estimates that minimizes distances between the set of currently observable landmarks and the subset of surveyed landmarks; and
correcting a pose of the vehicle based on the best transform estimate.
1 Assignment
0 Petitions
Accused Products
Abstract
A system and method for mapping, localization and pose correction including, determining a current position of a vehicle along a travel route and a set of currently observable landmarks along the travel route relative to the current position, the set of currently observable landmarks extracted from one or more stereo images obtained from an imaging device, and querying a survey landmark database to identify a subset of surveyed landmarks relative to the current position of the vehicle. The method including determining one or more two-dimensional transform estimates between the set of currently observable landmarks and the subset of surveyed landmarks and identifying a best transform estimate from the one or more two-dimensional transform estimates that minimizes distances between the set of currently observable landmarks and the subset of surveyed landmarks. The method including correcting a pose of the vehicle based on the best transform estimate.
47 Citations
20 Claims
-
1. A computer-implemented method for mapping, localization and pose correction, comprising:
-
determining a current position of a vehicle along a travel route and a set of currently observable landmarks along the travel route relative to the current position, the set of currently observable landmarks extracted from one or more stereo images obtained from an imaging device; querying a survey landmark database to identify a subset of surveyed landmarks relative to the current position of the vehicle, the survey landmark database comprising a set of surveyed landmarks previously stored; determining one or more two-dimensional transform estimates between the set of currently observable landmarks and the subset of surveyed landmarks; identifying a best transform estimate from the one or more two-dimensional transform estimates that minimizes distances between the set of currently observable landmarks and the subset of surveyed landmarks; and correcting a pose of the vehicle based on the best transform estimate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A system for mapping, localization and pose correction, comprising:
-
a processor; a visual odometry module that causes the processor to determine a current position of a vehicle along a travel route and a set of currently observable landmarks along the travel route relative to the current position, the set of currently observable landmarks extracted from one or more stereo images obtained from an imaging device communicatively coupled to the processor; a localization module that causes the processor to query a survey landmark database communicatively coupled to the process to retrieve a subset of surveyed landmarks relative to the current position of the vehicle, the survey landmark database including a set of surveyed landmarks previously stored; and a pose correction module that causes the processor to determine one or more two-dimensional transform estimates between the set of currently observable landmarks and the subset of surveyed landmarks, identify a best transform estimate from the one or more two-dimensional transform estimates that minimizes distances between the set of currently observable landmarks and the subset of surveyed landmarks and correct a pose of the vehicle based on the best transform estimate. - View Dependent Claims (12, 13, 14, 15, 16)
-
-
17. A non-transitory computer readable medium comprising instructions that when executed by a processor perform a method for mapping, localization and pose correction, comprising:
-
determining a current position of a vehicle along a travel route and a set of currently observable landmarks along the travel route relative to the current position, the set of currently observable landmarks extracted from one or more stereo images obtained from an imaging device; receiving a subset of surveyed landmarks from a survey landmark database based on a query identifying the current position, the query executed at the survey landmark database, the survey landmark database including a set of surveyed landmarks previously stored; determining one or more two-dimensional transform estimates between the set of currently observable landmarks and the subset of surveyed landmarks; identifying a best transform estimate from the one or more two-dimensional transform estimates that minimizes distances between the set of currently observable landmarks and the subset of surveyed landmarks; and correcting a pose of the vehicle based on the best transform estimate. - View Dependent Claims (18, 19, 20)
-
Specification