SG10201700299QA - Three-dimensional mapping of an environment - Google Patents

Three-dimensional mapping of an environment

Info

Publication number
SG10201700299QA
SG10201700299QA SG10201700299QA SG10201700299QA SG10201700299QA SG 10201700299Q A SG10201700299Q A SG 10201700299QA SG 10201700299Q A SG10201700299Q A SG 10201700299QA SG 10201700299Q A SG10201700299Q A SG 10201700299QA SG 10201700299Q A SG10201700299Q A SG 10201700299QA
Authority
SG
Singapore
Prior art keywords
lidar
environment
registration
odometry
multiple frames
Prior art date
Application number
SG10201700299QA
Inventor
Narang Gautam
Ting Ming Ling
Original Assignee
Otsaw Digital Pte 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 Otsaw Digital Pte Ltd filed Critical Otsaw Digital Pte Ltd
Priority to SG10201700299QA priority Critical patent/SG10201700299QA/en
Priority to US15/484,279 priority patent/US9870624B1/en
Priority to PCT/IB2017/052242 priority patent/WO2018130885A1/en
Priority to US15/828,897 priority patent/US10096129B2/en
Publication of SG10201700299QA publication Critical patent/SG10201700299QA/en

Links

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
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/277—Analysis of motion involving stochastic approaches, e.g. using Kalman filters
    • 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
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G06T2207/10021—Stereoscopic video; Stereoscopic 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • 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
    • G06T2207/30204—Marker
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Navigation (AREA)

Abstract

THREE-DIMENSIONAL MAPPING OF AN ENVIRONMENT A system for registering a three dimensional map of an environment includes a data collection device, such as a robotic device, one or more sensors installable on the device, such as a camera, a LiDAR sensor, an inertial measurement unit (IMU), and a global positioning system receiver. The system may be configured to use the sensor data to perform visual odometry, and/or LiDAR odometry. The system may use IMU measurements to determine an initial estimate, and use a modified generalized iterative closest point algorithm by examining only a portion of scan lines for each frame or combining multiple feature points across multiple frames. While performing the visual and LiDAR odometries, the system may simultaneously perform map registration through a global registration framework and optimize the registration over multiple frames.
SG10201700299QA 2017-01-13 2017-01-13 Three-dimensional mapping of an environment SG10201700299QA (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
SG10201700299QA SG10201700299QA (en) 2017-01-13 2017-01-13 Three-dimensional mapping of an environment
US15/484,279 US9870624B1 (en) 2017-01-13 2017-04-11 Three-dimensional mapping of an environment
PCT/IB2017/052242 WO2018130885A1 (en) 2017-01-13 2017-04-19 Three-dimensional mapping of an environment
US15/828,897 US10096129B2 (en) 2017-01-13 2017-12-01 Three-dimensional mapping of an environment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SG10201700299QA SG10201700299QA (en) 2017-01-13 2017-01-13 Three-dimensional mapping of an environment

Publications (1)

Publication Number Publication Date
SG10201700299QA true SG10201700299QA (en) 2018-08-30

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
SG10201700299QA SG10201700299QA (en) 2017-01-13 2017-01-13 Three-dimensional mapping of an environment

Country Status (3)

Country Link
US (2) US9870624B1 (en)
SG (1) SG10201700299QA (en)
WO (1) WO2018130885A1 (en)

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