Pose estimation using long range features

• US 9,062,979 B1
• Filed: 07/08/2013
• Issued: 06/23/2015
• Est. Priority Date: 07/08/2013
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Ferguson, David I., Silver, David
• Primary Examiner(s): Edwards, Jerrah
• Assistant Examiner(s): SMITH-STEWART, DEMETRA R
• Application Number:
  US13/936,522
• Time in Patent Office: 715 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01S 17/875 for determining attitude
• CPC Class Codes: G01S 17/89 for mapping or imaging

Abstract

Aspects of the present disclosure relate to using an object detected at long range to increase the accuracy of a location and heading estimate based on near range information. For example, an autonomous vehicle may use data points collected from a sensor such as a laser to generate an environmental map of environmental features. The environmental map is then compared to pre-stored map data to determine the vehicle'"'"'s geographic location and heading. A second sensor, such as a laser or camera, having a longer range than the first sensor may detect an object outside of the range and field of view of the first sensor. For example, the object may have retroreflective properties which make it identifiable in a camera image or from laser data points. The location of the object is then compared to the pre-stored map data and used to refine the vehicle'"'"'s estimated location and heading.

Claims

1. A method comprising:

receiving first data collected by a first sensor while a vehicle is driving on a roadway, the first data being collected within a first sensor range of the first sensor;

using the received first data from the first sensor to generate a map of the vehicle'"'"'s environment within the first sensor range;

estimating, by one or more processors, the vehicle'"'"'s geographic location and heading by comparing the generated map to a stored map identifying the geographic locations of objects including reference objects having particular retroreflective, brightness, or intensity characteristics;

receiving second data collected by a second sensor while the vehicle is driving on the roadway, the second data being collected within a second sensor range of the second sensor, wherein the second sensor range extends beyond the first sensor range;

identifying a second data reference object having a particular retroreflective, brightness, or intensity characteristic from the second data collected by the second sensor, wherein the second data reference object is identified from a portion of the second data that was collected outside of the first sensor range;

correlating the identified second data reference object to a reference object of the stored map based on the particular retroreflective, brightness, or intensity characteristic, the reference object of the stored map having a known geographic location; and

using the known geographic location of the reference object of the stored map to refine the estimated heading of the vehicle.

2. The method of claim 1, wherein the estimated geographic location includes latitude, longitude and altitude coordinates.

3. The method of claim 1, wherein the estimated geographic location includes Coordinated Universal Time coordinates.

4. The method of claim 1, further comprising using the known geographic location of the reference object of the stored map to refine the estimated geographic location of the vehicle.

5. The method of claim 1, wherein the first sensor is a laser and the second sensor is a different laser.

6. The method of claim 1, wherein the first sensor is a laser and the second sensor is a camera.

7. The method of claim 1, wherein estimating the vehicle'"'"'s geographic location and heading is further based on a previous geographic location and heading estimate.

8. A system comprising:

a first sensor configured to collect first data while a vehicle is driving on a roadway, the first data being collected within a first sensor range of the first sensor;

a second sensor configured to collect second data while the vehicle is driving on the roadway, the second being collected within a second sensor range of the second sensor, wherein the second sensor range extends beyond the first sensor range;

memory storing a map identifying the geographic locations of objects including reference objects having particular retroreflective, brightness, or intensity characteristics; and

a processor configured to;

access the memory;

receive the first data from the first sensor and the second data from the second sensor;

use the received first data from the first sensor to generate a map of the vehicle'"'"'s environment within the first sensor range;

estimate the vehicle'"'"'s geographic location and heading by comparing the generated map to the map stored in the memory;

identify a second data reference object having a particular retroreflective, brightness, or intensity characteristic from the second data, wherein the second data reference object is identified from a portion of the second data that was collected outside of the first sensor range;

correlate the identified second data reference object to a reference object of the stored map based on the particular retroreflective, brightness, or intensity characteristic, the reference object of the stored map having a known geographic location; and

use the known geographic location of the reference object of the stored map to refine the estimated heading of the vehicle.

9. The system of claim 8, wherein the estimated geographic location includes latitude, longitude and altitude coordinates.

10. The system of claim 8, wherein the estimated geographic location includes Coordinated Universal Time coordinates.

11. The system of claim 8, wherein the processor is further configured to use the known geographic location of the reference object of the stored map to refine the estimated geographic location of the vehicle.

12. The system of claim 8, wherein the first sensor is a laser and the second sensor is a different laser.

13. The system of claim 8, wherein the first sensor is a laser and the second sensor is a camera.

14. The system of claim 8, wherein the processor is further configured to estimate the vehicle'"'"'s geographic location and heading further based on a previous geographic location and heading estimate.

15. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method, the method comprising:

receiving first data collected by a first sensor while a vehicle is driving on a roadway, the first data being collected within a first sensor range of the first sensor;

using the received first data from the first sensor to generate a map of the vehicle'"'"'s environment within the first sensor range;

estimating the vehicle'"'"'s geographic location and heading by comparing the generated map to a stored map identifying the geographic locations of objects including reference objects having particular retroreflective, brightness, or intensity characteristics;

receiving second data collected by a second sensor while the vehicle is driving on the roadway, the second data being collected within a second sensor range of the second sensor, wherein the second sensor range is extends beyond the first sensor range;

identifying a second data reference object having a particular retroreflective, brightness, or intensity characteristic from the second data, wherein the second data reference object is identified from a portion of the second data that was collected outside of the first sensor range;

correlating the identified second data reference object to a reference object of the stored map based on the particular retroreflective, brightness, or intensity characteristic, the reference object of the stored map having a known geographic location; and

using the known geographic location of the reference object of the stored map to refine the estimated heading of the vehicle.

16. The medium of claim 15, wherein the estimated geographic location includes latitude, longitude and altitude coordinates.

17. The medium of claim 15, wherein the estimated geographic location includes Coordinated Universal Time coordinates.

18. The medium of claim 15, further comprising using the known geographic location of the reference object of the stored map to refine the estimated geographic location of the vehicle.

19. The medium of claim 15, wherein the first sensor is a laser and the second sensor is a different laser.

20. The medium of claim 15, wherein the first sensor is a laser and the second sensor is a camera.