EP3526626A4 - Laser scanner with real-time, online ego-motion estimation - Google Patents

Laser scanner with real-time, online ego-motion estimation Download PDF

Info

Publication number
EP3526626A4
EP3526626A4 EP17860192.8A EP17860192A EP3526626A4 EP 3526626 A4 EP3526626 A4 EP 3526626A4 EP 17860192 A EP17860192 A EP 17860192A EP 3526626 A4 EP3526626 A4 EP 3526626A4
Authority
EP
European Patent Office
Prior art keywords
real
time
motion estimation
laser scanner
ego
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
EP17860192.8A
Other languages
German (de)
French (fr)
Other versions
EP3526626A1 (en
Inventor
Ji Zhang
Sanjiv Singh
Kevin Joseph Dowling
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.)
Kaarta Inc
Original Assignee
Kaarta 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
Priority claimed from PCT/US2017/021120 external-priority patent/WO2017155970A1/en
Application filed by Kaarta Inc filed Critical Kaarta Inc
Publication of EP3526626A1 publication Critical patent/EP3526626A1/en
Publication of EP3526626A4 publication Critical patent/EP3526626A4/en
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/66—Tracking systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/4808—Evaluating distance, position or velocity data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
    • G01S7/4813—Housing arrangements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/51—Display arrangements
    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)
  • Image Analysis (AREA)
EP17860192.8A 2016-10-11 2017-10-10 Laser scanner with real-time, online ego-motion estimation Pending EP3526626A4 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662406910P 2016-10-11 2016-10-11
PCT/US2017/021120 WO2017155970A1 (en) 2016-03-11 2017-03-07 Laser scanner with real-time, online ego-motion estimation
PCT/US2017/055938 WO2018071416A1 (en) 2016-10-11 2017-10-10 Laser scanner with real-time, online ego-motion estimation

Publications (2)

Publication Number Publication Date
EP3526626A1 EP3526626A1 (en) 2019-08-21
EP3526626A4 true EP3526626A4 (en) 2020-05-27

Family

ID=61906369

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17860192.8A Pending EP3526626A4 (en) 2016-10-11 2017-10-10 Laser scanner with real-time, online ego-motion estimation

Country Status (3)

Country Link
EP (1) EP3526626A4 (en)
JP (1) JP2019532433A (en)
WO (1) WO2018071416A1 (en)

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US10989542B2 (en) 2016-03-11 2021-04-27 Kaarta, Inc. Aligning measured signal data with slam localization data and uses thereof
US11573325B2 (en) 2016-03-11 2023-02-07 Kaarta, Inc. Systems and methods for improvements in scanning and mapping
US11567201B2 (en) 2016-03-11 2023-01-31 Kaarta, Inc. Laser scanner with real-time, online ego-motion estimation
WO2017155970A1 (en) 2016-03-11 2017-09-14 Kaarta, Inc. Laser scanner with real-time, online ego-motion estimation
WO2019006289A1 (en) * 2017-06-30 2019-01-03 Kaarta, Inc. Systems and methods for improvements in scanning and mapping
JP7141403B2 (en) * 2017-01-27 2022-09-22 カールタ インコーポレイテッド Laser scanner with real-time online self-motion estimation
WO2019099605A1 (en) 2017-11-17 2019-05-23 Kaarta, Inc. Methods and systems for geo-referencing mapping systems
WO2019165194A1 (en) 2018-02-23 2019-08-29 Kaarta, Inc. Methods and systems for processing and colorizing point clouds and meshes
WO2019195270A1 (en) 2018-04-03 2019-10-10 Kaarta, Inc. Methods and systems for real or near real-time point cloud map data confidence evaluation
US20190377066A1 (en) * 2018-06-06 2019-12-12 DSCG Solutions, Inc. Tracking objects using video images and lidar
WO2020009826A1 (en) 2018-07-05 2020-01-09 Kaarta, Inc. Methods and systems for auto-leveling of point clouds and 3d models
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US11166048B2 (en) * 2018-10-02 2021-11-02 Tencent America LLC Method and apparatus for video coding
GB2583793B (en) * 2018-10-08 2021-11-03 Ulc Robotics Inc System and method for data acquisition
US10878580B2 (en) * 2018-10-15 2020-12-29 Tusimple, Inc. Point cluster refinement processing of image data for LiDAR-based vehicle tracking system and method
JP6893200B2 (en) * 2018-10-16 2021-06-23 株式会社きんでん Self-propelled control program and self-propelled work equipment
EP3671261A1 (en) 2018-12-21 2020-06-24 Leica Geosystems AG 3d surveillance system comprising lidar and multispectral imaging for object classification
CN111398980B (en) * 2018-12-29 2023-06-06 广东瑞图万方科技股份有限公司 Method and device for processing airborne LiDAR data
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CN110298103A (en) * 2019-06-25 2019-10-01 中国电建集团成都勘测设计研究院有限公司 The steep Dangerous Rock Body investigation method of height based on unmanned aerial vehicle onboard three-dimensional laser scanner
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CN111142102B (en) * 2019-12-26 2022-07-19 华为技术有限公司 Respiratory data calculation method and related equipment
CN113535672B (en) * 2020-04-16 2024-03-12 中国科学院沈阳自动化研究所 Turbidity data processing method based on autonomous underwater robot platform
CN111337036B (en) * 2020-05-19 2020-08-25 北京数字绿土科技有限公司 Overlap region data optimization method and device and terminal equipment
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Also Published As

Publication number Publication date
EP3526626A1 (en) 2019-08-21
WO2018071416A1 (en) 2018-04-19
JP2019532433A (en) 2019-11-07

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