GB202016444D0 - Visual-inertial localisation in an existing map - Google Patents

Visual-inertial localisation in an existing map

Info

Publication number
GB202016444D0
GB202016444D0 GBGB2016444.8A GB202016444A GB202016444D0 GB 202016444 D0 GB202016444 D0 GB 202016444D0 GB 202016444 A GB202016444 A GB 202016444A GB 202016444 D0 GB202016444 D0 GB 202016444D0
Authority
GB
United Kingdom
Prior art keywords
localisation
inertial
visual
existing map
map
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.)
Granted
Application number
GBGB2016444.8A
Other versions
GB2599947B (en
GB2599947A (en
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.)
Slamcore Ltd
Original Assignee
Slamcore Ltd
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 Slamcore Ltd filed Critical Slamcore Ltd
Priority to GB2016444.8A priority Critical patent/GB2599947B/en
Publication of GB202016444D0 publication Critical patent/GB202016444D0/en
Priority to EP21794151.7A priority patent/EP4229598B1/en
Priority to PCT/EP2021/078643 priority patent/WO2022079258A1/en
Priority to US17/995,195 priority patent/US11830218B2/en
Priority to PCT/EP2021/078701 priority patent/WO2022079292A1/en
Publication of GB2599947A publication Critical patent/GB2599947A/en
Application granted granted Critical
Publication of GB2599947B publication Critical patent/GB2599947B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • 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
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G06T2207/10016—Video; Image sequence
    • 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)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Image Analysis (AREA)
GB2016444.8A 2020-10-16 2020-10-16 Visual-inertial localisation in an existing map Active GB2599947B (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
GB2016444.8A GB2599947B (en) 2020-10-16 2020-10-16 Visual-inertial localisation in an existing map
EP21794151.7A EP4229598B1 (en) 2020-10-16 2021-10-15 Initialising keyframes for visual-inertial localisation and/or mapping
PCT/EP2021/078643 WO2022079258A1 (en) 2020-10-16 2021-10-15 Visual-inertial localisation in an existing map
US17/995,195 US11830218B2 (en) 2020-10-16 2021-10-15 Visual-inertial localisation in an existing map
PCT/EP2021/078701 WO2022079292A1 (en) 2020-10-16 2021-10-15 Initialising keyframes for visual-inertial localisation and/or mapping

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2016444.8A GB2599947B (en) 2020-10-16 2020-10-16 Visual-inertial localisation in an existing map

Publications (3)

Publication Number Publication Date
GB202016444D0 true GB202016444D0 (en) 2020-12-02
GB2599947A GB2599947A (en) 2022-04-20
GB2599947B GB2599947B (en) 2022-10-19

Family

ID=73598312

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2016444.8A Active GB2599947B (en) 2020-10-16 2020-10-16 Visual-inertial localisation in an existing map

Country Status (1)

Country Link
GB (1) GB2599947B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113160336A (en) * 2021-05-11 2021-07-23 北京易航远智科技有限公司 Vehicle-mounted panoramic camera calibration method under simple calibration environment
CN113963188A (en) * 2021-09-16 2022-01-21 杭州易现先进科技有限公司 Method, system, device and medium for visual positioning by combining map information
CN114111767A (en) * 2021-10-28 2022-03-01 北京自动化控制设备研究所 Method for optimizing line design line type based on multi-information fusion
CN117036663A (en) * 2022-04-18 2023-11-10 荣耀终端有限公司 Visual positioning method, device and storage medium

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024144926A1 (en) * 2022-12-28 2024-07-04 Qualcomm Incorporated Object aided localization without complete object information

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6775969B2 (en) * 2016-02-29 2020-10-28 キヤノン株式会社 Information processing equipment, information processing methods, and programs

Non-Patent Citations (12)

* Cited by examiner, † Cited by third party
Title
B. TRIGGSP. F. MCLAUCHLANR. I. HARTLEYA. W. FITZGIBBON: "Bundle Adjustment A Modern Synthesis", IN INTERNATIONAL WORKSHOP ON VISION ALGORITHMS: THEORY AND PRACTICE (IWVA, 1999
C. FORSTERL. CARLONEF. DELLAERTD. SCARAMUZZA: "On-manifold preintegration for real-time visual-inertial odometry", IEEE TRANS. ROBOTICS, vol. 33, no. 1, 2017, pages 1 - 21, XP011640492, DOI: 10.1109/TRO.2016.2597321
D. GALVEZ-LOPEZJ. D. TARDOS: "Bags of binary words for fast place recognition in image sequences", IEEE TRANS. ROBOTICS, vol. 28, no. 5, 2012, pages 1188 - 1197, XP011474263, DOI: 10.1109/TRO.2012.2197158
D. LOWE: "Distinctive image features from scale-invariant keypoints", INTL. J. OF COMPUTER VISION, vol. 60, 2004, pages 91 - 110, XP019216426, DOI: 10.1023/B:VISI.0000029664.99615.94
DAVID NISTERHENRIK STEWENIUS: "Scalable Recognition with a Vocabulary Tree", CVPR 2006: PROCEEDINGS OF THE 2006 IEEE COMPUTER SOCIETY CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION, vol. 2, June 2006 (2006-06-01), pages 2161 - 2168, XP010923119, DOI: 10.1109/CVPR.2006.264
F. R. KSCHISCHANGB. J. FREYH.-A. LOELIGER: "Factor graphs and the sum-product algorithm", IEEE TRANS. INFORM. THEORY, vol. 47, no. 2, 2001, pages 498 - 519
M. FISCHLERR. BOLLES: "Random sample consensus: a paradigm for model fitting with application to image analysis and automated cartography", COMMUN. ASSOC. COMP. MACH., vol. 24, 1981, pages 381 - 395
P. F. ALCANTARILLAJ. NUEVOA. BARTOLI: "Fast explicit diffusion for accelerated features in nonlinear scale spaces", BRITISH MACHINE VISION CONF. (BMVC, 2013
P. F. ALCANTARILLAK. NIL. M. BERGASAF. DELLAERT: "Visibility learning for large-scale urban environment", IEEE INTL. CONF. ON ROBOTICS AND AUTOMATION (ICRA, 2011, pages 6205 - 6212
RELJA ARANDJELOVICANDREW ZISSERMAN: "All About VLAD", PROCEEDINGS OF THE IEEE CONFERENCE ON COMPUTER VISION AND PATTERN RECOGNITION (CVPR, 2013, pages 1578 - 1585, XP032492932, DOI: 10.1109/CVPR.2013.207
SEE C. ATKESONA. MOORES. SCHAAL: "Locally weighted learning", AL REVIEW, vol. 11, 1997, pages 11 - 73
T. LUPTONS. SUKKARIEH: "Visual-inertial-aided navigation for high dynamic motion in built environments without initial conditions", IEEE TRANS. ROBOTICS, vol. 28, no. 1, 2012, pages 61 - 76, XP011403476, DOI: 10.1109/TRO.2011.2170332

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113160336A (en) * 2021-05-11 2021-07-23 北京易航远智科技有限公司 Vehicle-mounted panoramic camera calibration method under simple calibration environment
CN113160336B (en) * 2021-05-11 2023-07-07 北京易航远智科技有限公司 Vehicle-mounted looking-around camera calibration method under simple calibration environment
CN113963188A (en) * 2021-09-16 2022-01-21 杭州易现先进科技有限公司 Method, system, device and medium for visual positioning by combining map information
CN114111767A (en) * 2021-10-28 2022-03-01 北京自动化控制设备研究所 Method for optimizing line design line type based on multi-information fusion
CN114111767B (en) * 2021-10-28 2023-11-03 北京自动化控制设备研究所 Method for optimizing line design line type based on multi-information fusion
CN117036663A (en) * 2022-04-18 2023-11-10 荣耀终端有限公司 Visual positioning method, device and storage medium

Also Published As

Publication number Publication date
GB2599947B (en) 2022-10-19
GB2599947A (en) 2022-04-20

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