System and method for image based mapping, localization, and pose correction of a vehicle with landmark transform estimation
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;
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 for one or more depth levels;
identifying a best transform estimate from the one or more two-dimensional transform estimates, wherein the best transform estimate 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.
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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.
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Citations
20 Claims
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1. A computer-implemented method for mapping, localization, and pose correction, comprising:
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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 for one or more depth levels; identifying a best transform estimate from the one or more two-dimensional transform estimates, wherein the best transform estimate 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)
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10. A system for mapping, localization and pose correction, comprising:
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a processor; and a memory operatively connected for computer communication to the processor, the memory storing a visual odometry module, a localization module, and a pose correction module with instructions for execution by the processor, wherein; the visual odometry module causes the processor to determine a current position of a vehicle along a travel route, wherein the visual odometry module causes the processor to determine a set of currently observable landmarks along the travel route relative to the current position, wherein the set of currently observable landmarks are extracted from one or more stereo images received from an imaging device; the localization module causes the processor to execute a query including the current position at a survey landmark database, the survey landmark database including a set of surveyed landmarks previously stored, wherein the localization module receives a subset of surveyed landmarks from the survey landmark database as a result of the query; the pose correction module 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, wherein the best transform estimate is one of the one or more two-dimensional transform 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 (11, 12, 13, 14, 15, 16)
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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:
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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 includes 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)
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Specification