CA3127451A1 - Generation of structured map data from vehicle sensors and camera arrays - Google Patents

Generation of structured map data from vehicle sensors and camera arrays Download PDF

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Publication number
CA3127451A1
CA3127451A1 CA3127451A CA3127451A CA3127451A1 CA 3127451 A1 CA3127451 A1 CA 3127451A1 CA 3127451 A CA3127451 A CA 3127451A CA 3127451 A CA3127451 A CA 3127451A CA 3127451 A1 CA3127451 A1 CA 3127451A1
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CA
Canada
Prior art keywords
feature
image
time
image records
data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CA3127451A
Other languages
English (en)
French (fr)
Inventor
Nikhil NAIKAL
Alonso Patron-Perez
Alexander Marques
John Kua
Aaron Matthew Bestick
Christopher D. Thompson
Andrei Claudiu Cosma
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Velodyne Lidar USA Inc
Original Assignee
Velodyne Lidar USA Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Velodyne Lidar USA Inc filed Critical Velodyne Lidar USA Inc
Publication of CA3127451A1 publication Critical patent/CA3127451A1/en
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Instructional Devices (AREA)
CA3127451A 2019-01-22 2020-01-22 Generation of structured map data from vehicle sensors and camera arrays Pending CA3127451A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US16/254,508 US11004224B2 (en) 2019-01-22 2019-01-22 Generation of structured map data from vehicle sensors and camera arrays
US16/254,508 2019-01-22
PCT/US2020/014558 WO2020154366A1 (en) 2019-01-22 2020-01-22 Generation of structured map data from vehicle sensors and camera arrays

Publications (1)

Publication Number Publication Date
CA3127451A1 true CA3127451A1 (en) 2020-07-30

Family

ID=71608397

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3127451A Pending CA3127451A1 (en) 2019-01-22 2020-01-22 Generation of structured map data from vehicle sensors and camera arrays

Country Status (9)

Country Link
US (2) US11004224B2 (https=)
EP (1) EP3899684A4 (https=)
JP (1) JP2022518911A (https=)
KR (1) KR20210118119A (https=)
CN (1) CN113678079A (https=)
CA (1) CA3127451A1 (https=)
IL (1) IL285029A (https=)
MX (1) MX2021008782A (https=)
WO (1) WO2020154366A1 (https=)

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US11004224B2 (en) 2019-01-22 2021-05-11 Velodyne Lidar Usa, Inc. Generation of structured map data from vehicle sensors and camera arrays
WO2020237288A1 (en) * 2019-05-24 2020-12-03 Aerometrex Pty Ltd An aerial imaging system and method
US11709061B2 (en) * 2020-10-16 2023-07-25 Argo AI, LLC Systems and methods for multi-modal transfer capabilities for smart infrastructure
DE102021103134A1 (de) 2021-02-10 2022-08-11 Cariad Se Verfahren zum Betreiben einer Sensorschaltung in einem Kraftfahrzeug, entsprechend betreibbare Sensorschaltung und Kraftfahrzeug mit der Sensorschaltung
WO2022231523A1 (en) * 2021-04-29 2022-11-03 National University Of Singapore Multi-camera system
CN113724323B (zh) * 2021-08-24 2024-07-23 杭州海康威视数字技术股份有限公司 一种地图构建方法、装置及设备
CN114172610B (zh) * 2021-12-08 2024-05-07 北京经纬恒润科技股份有限公司 一种多源数据同步处理方法、装置及系统
US12050589B2 (en) * 2021-12-29 2024-07-30 Lyft, Inc. Systems and methods for updating maps and evaluating map accuracy based on collected image data
US20260009654A1 (en) * 2022-03-31 2026-01-08 Honda Motor Co., Ltd. Map generation apparatus
WO2024031141A1 (en) * 2022-08-09 2024-02-15 Visionary Machines Pty Ltd Systems and methods for generating and/or using 3-dimensional information with one or more moving cameras
KR102589483B1 (ko) * 2022-09-26 2023-10-16 한국건설기술연구원 건설 인프라 스캔 작업 지원용 로버 기반 3차원 스캔 모바일 맵핑 시스템 및 방법
CN115973178B (zh) * 2023-03-17 2023-05-23 禾多科技（北京）有限公司 车辆移动控制方法、装置、电子设备和计算机可读介质
CN119478327B (zh) * 2024-10-24 2025-09-26 广州骊珠科技有限责任公司 环境帧的回环检测方法

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US6789005B2 (en) * 2002-11-22 2004-09-07 New York Air Brake Corporation Method and apparatus of monitoring a railroad hump yard
US20070070069A1 (en) * 2005-09-26 2007-03-29 Supun Samarasekera System and method for enhanced situation awareness and visualization of environments
US7958536B2 (en) * 2008-03-31 2011-06-07 Broadcom Corporation Video transmission system with timing based on a global clock and methods for use therewith
US20100204974A1 (en) * 2009-02-09 2010-08-12 Utah State University Lidar-Assisted Stero Imager
US9400930B2 (en) * 2013-09-27 2016-07-26 Qualcomm Incorporated Hybrid photo navigation and mapping
US9560312B2 (en) * 2013-12-11 2017-01-31 Cellco Partnership Time synchronization of video and data inside a mobile device
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US10321208B2 (en) * 2015-10-26 2019-06-11 Alpinereplay, Inc. System and method for enhanced video image recognition using motion sensors
US10242455B2 (en) * 2015-12-18 2019-03-26 Iris Automation, Inc. Systems and methods for generating a 3D world model using velocity data of a vehicle
US9965689B2 (en) * 2016-06-09 2018-05-08 Qualcomm Incorporated Geometric matching in visual navigation systems
US10437342B2 (en) * 2016-12-05 2019-10-08 Youspace, Inc. Calibration systems and methods for depth-based interfaces with disparate fields of view
US10371530B2 (en) * 2017-01-04 2019-08-06 Qualcomm Incorporated Systems and methods for using a global positioning system velocity in visual-inertial odometry
US10551509B2 (en) * 2017-06-30 2020-02-04 GM Global Technology Operations LLC Methods and systems for vehicle localization
US10437252B1 (en) * 2017-09-08 2019-10-08 Perceptln Shenzhen Limited High-precision multi-layer visual and semantic map for autonomous driving
JP6920159B2 (ja) * 2017-09-29 2021-08-18 株式会社デンソー 車両の周辺監視装置と周辺監視方法
US11004224B2 (en) 2019-01-22 2021-05-11 Velodyne Lidar Usa, Inc. Generation of structured map data from vehicle sensors and camera arrays

Also Published As

Publication number Publication date
US20210248768A1 (en) 2021-08-12
JP2022518911A (ja) 2022-03-17
CN113678079A (zh) 2021-11-19
EP3899684A4 (en) 2023-03-08
KR20210118119A (ko) 2021-09-29
IL285029A (en) 2021-09-30
WO2020154366A1 (en) 2020-07-30
US11915440B2 (en) 2024-02-27
MX2021008782A (es) 2021-11-12
US20200234459A1 (en) 2020-07-23
EP3899684A1 (en) 2021-10-27
US11004224B2 (en) 2021-05-11

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