JP2022518911A - 乗り物のセンサとカメラアレイからの構造化された地図データの生成 - Google Patents

乗り物のセンサとカメラアレイからの構造化された地図データの生成 Download PDF

Info

Publication number
JP2022518911A
JP2022518911A JP2021543153A JP2021543153A JP2022518911A JP 2022518911 A JP2022518911 A JP 2022518911A JP 2021543153 A JP2021543153 A JP 2021543153A JP 2021543153 A JP2021543153 A JP 2021543153A JP 2022518911 A JP2022518911 A JP 2022518911A
Authority
JP
Japan
Prior art keywords
image
feature
time
data
time stamp
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Withdrawn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
JP2021543153A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022518911A5 (https=
Inventor
ナイカル、ニクヒル
パトロン－ペレズ、アロンソ
マルケス、アレグザンダー
クア、ジョン
ベスティック、アーロン、マシュー
トンプソン、クリストファー、ディー
コスマ、アンドレイ、クラウディウ
Original Assignee
ベロダイン ライダー ユーエスエー，インコーポレイテッド
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 ベロダイン ライダー ユーエスエー，インコーポレイテッド filed Critical ベロダイン ライダー ユーエスエー，インコーポレイテッド
Publication of JP2022518911A publication Critical patent/JP2022518911A/ja
Publication of JP2022518911A5 publication Critical patent/JP2022518911A5/ja
Withdrawn legal-status Critical Current

Links

Images

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)
JP2021543153A 2019-01-22 2020-01-22 乗り物のセンサとカメラアレイからの構造化された地図データの生成 Withdrawn JP2022518911A (ja)

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 (2)

Publication Number Publication Date
JP2022518911A true JP2022518911A (ja) 2022-03-17
JP2022518911A5 JP2022518911A5 (https=) 2023-02-07

Family

ID=71608397

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021543153A Withdrawn JP2022518911A (ja) 2019-01-22 2020-01-22 乗り物のセンサとカメラアレイからの構造化された地図データの生成

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=)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200132500A1 (en) * 2017-07-20 2020-04-30 Toyota Mapmaster Incorporated New road deducation assistance device, new road deducation assistance method, and computer program product
EP3779929A4 (en) * 2018-03-29 2021-05-05 Panasonic Intellectual Property Management Co., Ltd. CONTROL DEVICE AND CARD GENERATION PROCESS
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

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5633872A (en) * 1994-06-08 1997-05-27 Eon Corporation Interactive radio
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
EP3360023A4 (en) * 2015-10-09 2018-10-10 SZ DJI Technology Co., Ltd. Salient feature based vehicle positioning
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
CN113678079A (zh) 2021-11-19
EP3899684A4 (en) 2023-03-08
KR20210118119A (ko) 2021-09-29
CA3127451A1 (en) 2020-07-30
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

Similar Documents

Publication Publication Date Title
US11915440B2 (en) Generation of structured map data from vehicle sensors and camera arrays
JP7077520B2 (ja) 自律車両の車線割り当てを決定するシステム、自律車両の車線割り当てを決定するためにコンピュータで実装された方法、およびコンピュータプログラム
CN107145578B (zh) 地图构建方法、装置、设备和系统
JP4767578B2 (ja) 高精度ｃｖ演算装置と、この高精度ｃｖ演算装置を備えたｃｖ方式三次元地図生成装置及びｃｖ方式航法装置
KR102425272B1 (ko) 디지털 지도에 대한 위치를 판별하기 위한 방법 및 시스템
EP2132530B1 (en) System and method for position determination
JP6656886B2 (ja) 情報処理装置、制御方法、プログラム及び記憶媒体
JP4897542B2 (ja) 自己位置標定装置、自己位置標定方法および自己位置標定プログラム
CN110945320B (zh) 车辆定位方法和系统
CN108885106A (zh) 使用地图的车辆部件控制
KR102835985B1 (ko) 차량의 궤적을 결정하기 위한 방법 및 장치
KR101444685B1 (ko) 영상기반 멀티센서 데이터를 이용한 차량의 위치자세 결정 방법 및 장치
KR20180079428A (ko) 자동 로컬리제이션을 위한 장치 및 방법
CN116528154B (zh) 用于界定区域内的车辆驾驶辅助的方法
JP2019174191A (ja) データ構造、情報送信装置、制御方法、プログラム及び記憶媒体
JP2022136145A (ja) データ構造、情報処理装置、及び地図データ生成装置
US20250244487A1 (en) Systems and methods for estimating a gap between positioning and odometry signals
RU2772620C1 (ru) Создание структурированных картографических данных с помощью датчиков транспортного средства и массивов камер
WO2023037570A1 (ja) 車載処理装置、車両制御装置、及び自己位置推定方法
JP2020073931A (ja) 情報処理装置、制御方法、プログラム及び記憶媒体
JP7815169B2 (ja) 線路情報生成装置、線路情報生成方法およびプログラム
JP2024546752A (ja) モバイルデバイスによるリアルタイムマッピングのための信頼性の高いアンカーポイント
JP2023018510A (ja) 位置合わせ装置

Legal Events

Date Code Title Description
RD03 Notification of appointment of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7423

Effective date: 20230118

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230120

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230120

A761 Written withdrawal of application

Free format text: JAPANESE INTERMEDIATE CODE: A761

Effective date: 20230829