EP3574285A4 - Dispositif de balayage laser à estimation en temps réel du mouvement propre en ligne - Google Patents

Dispositif de balayage laser à estimation en temps réel du mouvement propre en ligne Download PDF

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Publication number
EP3574285A4
EP3574285A4 EP18745179.4A EP18745179A EP3574285A4 EP 3574285 A4 EP3574285 A4 EP 3574285A4 EP 18745179 A EP18745179 A EP 18745179A EP 3574285 A4 EP3574285 A4 EP 3574285A4
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.)
Withdrawn
Application number
EP18745179.4A
Other languages
German (de)
English (en)
Other versions
EP3574285A1 (fr
Inventor
Ji Zhang
Kevin Joseph Dowling
Sanjiv Singh
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/fr
Priority claimed from PCT/US2017/055938 external-priority patent/WO2018071416A1/fr
Application filed by Kaarta Inc filed Critical Kaarta Inc
Publication of EP3574285A1 publication Critical patent/EP3574285A1/fr
Publication of EP3574285A4 publication Critical patent/EP3574285A4/fr
Withdrawn legal-status Critical Current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
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • 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
    • 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
    • G01S17/86—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
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/242—Means based on the reflection of waves generated by the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/245—Arrangements for determining position or orientation using dead reckoning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • G05D1/2465—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM] using a 3D model of the environment
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/80—Specific applications of the controlled vehicles for information gathering, e.g. for academic research
    • G05D2105/87—Specific applications of the controlled vehicles for information gathering, e.g. for academic research for exploration, e.g. mapping of an area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/60—Open buildings, e.g. offices, hospitals, shopping areas or universities
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/20—Aircraft, e.g. drones
    • G05D2109/25—Rotorcrafts
    • G05D2109/254—Flying platforms, e.g. multicopters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G05D2111/17—Coherent light, e.g. laser signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/50—Internal signals, i.e. from sensors located in the vehicle, e.g. from compasses or angular sensors
    • G05D2111/52—Internal signals, i.e. from sensors located in the vehicle, e.g. from compasses or angular sensors generated by inertial navigation means, e.g. gyroscopes or accelerometers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/60—Combination of two or more signals
    • G05D2111/63—Combination of two or more signals of the same type, e.g. stereovision or optical flow
    • G05D2111/65—Combination of two or more signals of the same type, e.g. stereovision or optical flow taken successively, e.g. visual odometry or optical flow

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Image Analysis (AREA)
  • Navigation (AREA)
EP18745179.4A 2017-01-27 2018-01-26 Dispositif de balayage laser à estimation en temps réel du mouvement propre en ligne Withdrawn EP3574285A4 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201762451294P 2017-01-27 2017-01-27
PCT/US2017/021120 WO2017155970A1 (fr) 2016-03-11 2017-03-07 Scanner laser à estimation d'égo-mouvement en ligne en temps réel
PCT/US2017/055938 WO2018071416A1 (fr) 2016-10-11 2017-10-10 Scanner laser à estimation d'égo-mouvement en ligne en temps réel
PCT/US2018/015403 WO2018140701A1 (fr) 2017-01-27 2018-01-26 Dispositif de balayage laser à estimation en temps réel du mouvement propre en ligne

Publications (2)

Publication Number Publication Date
EP3574285A1 EP3574285A1 (fr) 2019-12-04
EP3574285A4 true EP3574285A4 (fr) 2020-12-02

Family

ID=62979592

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18745179.4A Withdrawn EP3574285A4 (fr) 2017-01-27 2018-01-26 Dispositif de balayage laser à estimation en temps réel du mouvement propre en ligne

Country Status (3)

Country Link
EP (1) EP3574285A4 (fr)
JP (1) JP7141403B2 (fr)
WO (1) WO2018140701A1 (fr)

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JP6987797B2 (ja) 2016-03-11 2022-01-05 カールタ インコーポレイテッド リアルタイムオンラインエゴモーション推定を有するレーザスキャナ
WO2019006289A1 (fr) * 2017-06-30 2019-01-03 Kaarta, Inc. Systèmes et procédés d'améliorations de balayage et de mise en correspondance
US10989542B2 (en) 2016-03-11 2021-04-27 Kaarta, Inc. Aligning measured signal data with slam localization data and uses thereof
WO2019099605A1 (fr) 2017-11-17 2019-05-23 Kaarta, Inc. Procédés et systèmes de géoréférencement de systèmes de cartographie
WO2019165194A1 (fr) 2018-02-23 2019-08-29 Kaarta, Inc. Systèmes et procédés de traitement et de colorisation de nuages de points et de maillages
WO2019195270A1 (fr) 2018-04-03 2019-10-10 Kaarta, Inc. Procédés et systèmes d'évaluation de confiance de données de carte de nuage de points en temps réel ou quasi réel
WO2020009826A1 (fr) 2018-07-05 2020-01-09 Kaarta, Inc. Procédés et systèmes de mise à niveau automatique de nuages de points et de modèles 3d
DE102018214694A1 (de) * 2018-08-30 2020-03-05 Continental Automotive Gmbh Lokalisierungsvorrichtung zur visuellen Lokalisierung eines Fahrzeugs
JP2020042329A (ja) * 2018-09-06 2020-03-19 株式会社ユニックス 建築用資材プレ加工システム及び建築用資材プレ加工方法
US11023742B2 (en) 2018-09-07 2021-06-01 Tusimple, Inc. Rear-facing perception system for vehicles
EP3735678A4 (fr) 2018-11-13 2021-03-24 Beijing Didi Infinity Technology and Development Co., Ltd. Procédés et systèmes de génération de nuage de points colorés
CN109945890B (zh) * 2018-11-21 2022-01-25 财团法人车辆研究测试中心 多定位系统切换与融合校正方法及其装置
US10991117B2 (en) * 2018-12-23 2021-04-27 Samsung Electronics Co., Ltd. Performing a loop closure detection
CN111380515B (zh) 2018-12-29 2023-08-18 纳恩博（常州）科技有限公司 定位方法及装置、存储介质、电子装置
WO2020176838A1 (fr) * 2019-02-28 2020-09-03 Brain Corporation Systèmes et procédés pour fusionner des données de carte et d'itinéraire disjointes par rapport à une seule origine pour des robots autonomes
DE102019206036A1 (de) 2019-04-26 2020-10-29 Volkswagen Aktiengesellschaft Verfahren und Vorrichtung zur Bestimmung der geografischen Position und Orientierung eines Fahrzeugs
CN110243358B (zh) * 2019-04-29 2023-01-03 武汉理工大学 多源融合的无人车室内外定位方法及系统
CN110132306B (zh) * 2019-05-20 2021-02-19 广州小鹏汽车科技有限公司 车辆定位误差的纠正方法及系统
CN110132302A (zh) * 2019-05-20 2019-08-16 中国科学院自动化研究所 融合imu信息的双目视觉里程计定位方法、系统
CN110298103A (zh) * 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 基于无人机机载三维激光扫描仪的高陡危岩体调查方法
CN110243375A (zh) * 2019-06-26 2019-09-17 汕头大学 一种同时构建二维地图和三维地图的方法
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DE102019216548A1 (de) * 2019-10-28 2021-04-29 DeepUp GmbH Verfahren und mobile Erfassungsvorrichtung zur Erfassung von Infrastrukturelementen eines unterirdischen Leitungsnetzwerks
FR3103283B1 (fr) * 2019-11-20 2022-07-29 Thales Sa Dispositif electronique et procede d'estimation de position(s) d'element(s) de trafic aerien, systeme d'affichage et programme d'ordinateur associes
CN111076724B (zh) * 2019-12-06 2023-12-22 苏州艾吉威机器人有限公司 三维激光定位方法及系统
CN111009036B (zh) * 2019-12-10 2023-11-21 北京歌尔泰克科技有限公司 同步定位与地图构建中栅格地图的修正方法、装置
CN111258313B (zh) * 2020-01-20 2022-06-07 深圳市普渡科技有限公司 多传感器融合slam系统及机器人
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JPWO2022102577A1 (fr) * 2020-11-13 2022-05-19
DE102021117311B4 (de) 2021-07-05 2024-08-22 Spleenlab GmbH Steuer- und Navigationsvorrichtung für ein autonom bewegtes System und autonom bewegtes System
CN113933806A (zh) * 2021-08-31 2022-01-14 西北工业大学 一种天波雷达多路径量测聚类方法
CN114296096A (zh) * 2021-12-23 2022-04-08 深圳优地科技有限公司 一种机器人定位方法、系统以及终端
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WO2015105597A2 (fr) * 2013-11-27 2015-07-16 The Trustees Of The University Of Pennsylvania Module de combinaison de capteurs pour le vol autonome dans des environnements à l'intérieur et à l'extérieur avec un micro-véhicule aérien (mav) de type giravion
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Also Published As

Publication number Publication date
EP3574285A1 (fr) 2019-12-04
WO2018140701A1 (fr) 2018-08-02
JP2020507072A (ja) 2020-03-05
JP7141403B2 (ja) 2022-09-22

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