KR20210118119A - 차량 센서들 및 카메라 어레이들로부터의 구조화된 지도 데이터의 생성 - Google Patents

차량 센서들 및 카메라 어레이들로부터의 구조화된 지도 데이터의 생성 Download PDF

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KR20210118119A
KR20210118119A KR1020217026231A KR20217026231A KR20210118119A KR 20210118119 A KR20210118119 A KR 20210118119A KR 1020217026231 A KR1020217026231 A KR 1020217026231A KR 20217026231 A KR20217026231 A KR 20217026231A KR 20210118119 A KR20210118119 A KR 20210118119A
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image
feature
time
location
data
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Korean (ko)
Inventor
니킬 나이칼
알론소 패트론-페레즈
알렉산더 마르퀘스
존 쿠아
아론 매튜 베스틱
크리스토퍼 디. 톰슨
안드레이 클라우디우 코스마
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벨로다인 라이더 유에스에이, 인크.
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    • 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

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  • 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)
KR1020217026231A 2019-01-22 2020-01-22 차량 센서들 및 카메라 어레이들로부터의 구조화된 지도 데이터의 생성 Withdrawn KR20210118119A (ko)

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 (1)

Publication Number Publication Date
KR20210118119A true KR20210118119A (ko) 2021-09-29

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KR1020217026231A Withdrawn KR20210118119A (ko) 2019-01-22 2020-01-22 차량 센서들 및 카메라 어레이들로부터의 구조화된 지도 데이터의 생성

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=)

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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
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

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102589483B1 (ko) * 2022-09-26 2023-10-16 한국건설기술연구원 건설 인프라 스캔 작업 지원용 로버 기반 3차원 스캔 모바일 맵핑 시스템 및 방법

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US20210248768A1 (en) 2021-08-12
JP2022518911A (ja) 2022-03-17
CN113678079A (zh) 2021-11-19
EP3899684A4 (en) 2023-03-08
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

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