EP3646058A4 - Systeme und verfahren zur verbesserung der abtastung und abbildung - Google Patents
Systeme und verfahren zur verbesserung der abtastung und abbildung Download PDFInfo
- Publication number
- EP3646058A4 EP3646058A4 EP18824609.4A EP18824609A EP3646058A4 EP 3646058 A4 EP3646058 A4 EP 3646058A4 EP 18824609 A EP18824609 A EP 18824609A EP 3646058 A4 EP3646058 A4 EP 3646058A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- mapping
- scanning
- systems
- methods
- 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
Links
- 238000013507 mapping Methods 0.000 title 1
- 238000000034 method Methods 0.000 title 1
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
- G01S17/02—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
- 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
-
- 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
- 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
- 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
- G06T2207/30244—Camera pose
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Traffic Control Systems (AREA)
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201762527341P | 2017-06-30 | 2017-06-30 | |
PCT/US2017/055938 WO2018071416A1 (en) | 2016-10-11 | 2017-10-10 | Laser scanner with real-time, online ego-motion estimation |
PCT/US2018/015403 WO2018140701A1 (en) | 2017-01-27 | 2018-01-26 | Laser scanner with real-time, online ego-motion estimation |
PCT/US2018/040269 WO2019006289A1 (en) | 2017-06-30 | 2018-06-29 | SYSTEMS AND METHODS FOR SCAN ENHANCEMENT AND CORRECTION |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3646058A1 EP3646058A1 (de) | 2020-05-06 |
EP3646058A4 true EP3646058A4 (de) | 2020-12-02 |
Family
ID=64742246
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18824609.4A Pending EP3646058A4 (de) | 2017-06-30 | 2018-06-29 | Systeme und verfahren zur verbesserung der abtastung und abbildung |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3646058A4 (de) |
WO (1) | WO2019006289A1 (de) |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11567201B2 (en) | 2016-03-11 | 2023-01-31 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
US10989542B2 (en) | 2016-03-11 | 2021-04-27 | Kaarta, Inc. | Aligning measured signal data with slam localization data and uses thereof |
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 |
US11573325B2 (en) | 2016-03-11 | 2023-02-07 | Kaarta, Inc. | Systems and methods for improvements in scanning and mapping |
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 |
WO2020009826A1 (en) | 2018-07-05 | 2020-01-09 | Kaarta, Inc. | Methods and systems for auto-leveling of point clouds and 3d models |
US10547974B1 (en) * | 2019-03-19 | 2020-01-28 | Microsoft Technology Licensing, Llc | Relative spatial localization of mobile devices |
US11506502B2 (en) * | 2019-07-12 | 2022-11-22 | Honda Motor Co., Ltd. | Robust localization |
WO2021035748A1 (zh) * | 2019-08-30 | 2021-03-04 | 深圳市大疆创新科技有限公司 | 位姿获取方法、系统和可移动平台 |
CN110501712B (zh) * | 2019-09-05 | 2022-06-28 | 北京百度网讯科技有限公司 | 无人驾驶中用于确定位置姿态数据的方法、装置和设备 |
ES2824873A1 (es) * | 2019-11-13 | 2021-05-13 | Fund Tekniker | Metodo y sistema para el seguimiento espacial de objetos |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014048475A1 (en) * | 2012-09-27 | 2014-04-03 | Metaio Gmbh | Method of determining a position and orientation of a device associated with a capturing device for capturing at least one image |
WO2014130854A1 (en) * | 2013-02-21 | 2014-08-28 | Regents Of The Univesity Of Minnesota | Extrinsic parameter calibration of a vision-aided inertial navigation system |
WO2018071416A1 (en) * | 2016-10-11 | 2018-04-19 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
WO2018140701A1 (en) * | 2017-01-27 | 2018-08-02 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7145478B2 (en) * | 2002-12-17 | 2006-12-05 | Evolution Robotics, Inc. | Systems and methods for controlling a density of visual landmarks in a visual simultaneous localization and mapping system |
US8542219B2 (en) * | 2004-01-30 | 2013-09-24 | Electronic Scripting Products, Inc. | Processing pose data derived from the pose of an elongate object |
FR2945624B1 (fr) * | 2009-05-15 | 2011-06-10 | Mbda France | Procede et systeme d'estimation d'une trajectoire d'un mobile |
US10481265B2 (en) * | 2011-12-21 | 2019-11-19 | Robotic paradigm Systems LLC | Apparatus, systems and methods for point cloud generation and constantly tracking position |
WO2014013363A1 (en) * | 2012-07-18 | 2014-01-23 | Creaform Inc. | 3-d scanning and positioning interface |
US9083960B2 (en) * | 2013-01-30 | 2015-07-14 | Qualcomm Incorporated | Real-time 3D reconstruction with power efficient depth sensor usage |
US9430038B2 (en) * | 2014-05-01 | 2016-08-30 | Microsoft Technology Licensing, Llc | World-locked display quality feedback |
-
2018
- 2018-06-29 WO PCT/US2018/040269 patent/WO2019006289A1/en active Application Filing
- 2018-06-29 EP EP18824609.4A patent/EP3646058A4/de active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014048475A1 (en) * | 2012-09-27 | 2014-04-03 | Metaio Gmbh | Method of determining a position and orientation of a device associated with a capturing device for capturing at least one image |
WO2014130854A1 (en) * | 2013-02-21 | 2014-08-28 | Regents Of The Univesity Of Minnesota | Extrinsic parameter calibration of a vision-aided inertial navigation system |
WO2018071416A1 (en) * | 2016-10-11 | 2018-04-19 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
WO2018140701A1 (en) * | 2017-01-27 | 2018-08-02 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
Also Published As
Publication number | Publication date |
---|---|
EP3646058A1 (de) | 2020-05-06 |
WO2019006289A1 (en) | 2019-01-03 |
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