SG11201811001WA - Vehicle navigation system using pose estimation based on point cloud - Google Patents

Abstract

INTERNATIONAL APPLICATION PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) (19) World Intellectual Property Organization International Bureau 11111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111111 (43) International Publication Date 09 January 2020 (09.01.2020) (10) International Publication Number WO 2020/006667 Al WIPO I PCT (51) International Patent Classification: GO1S 7/48 (2006.01) (21) International Application Number: PCT/CN2018/094118 (22) International Filing Date: 02 July 2018 (02.07.2018) English English AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, 1(1 3 , KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, 1E, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: with international search report (Art. 21(3)) (25) Filing Language: (26) Publication Language: (71) Applicant: BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD [CN/CN]; Building 34, No. 8 Dongbeiwang West Road, Haidian District, Bei- jing 100193 (CN). (72) Inventors: YANG, Sheng; Building 34, No. 8 Dongbei- wang West Road, Haidian District, Beijing 100193 (CN). MA, Teng; Room 201, 2/F, Building 3, No. 29 Dongbei- wang South Road, Haidian District, Beijing 100193 (CN). NIAN, Xing; Room 201, 2/F, Building 3, No. 29 Dongbei- wang South Road, Haidian District, Beijing 100193 (CN). (74) Agent: METIS IP (CHENGDU) LLC; (No. 846 South Tianfu Road) Tianfu Innovation Center, Chengdu, Sichuan 610213 (CN). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, (54) Title: VEHICLE NAVIGATION SYS1EM USING POSE ESTIMATION BASED ON POINT CLOUD (57) : Embodiments of the disclosure provide systems and methods for position- ing a vehicle. The system includes a communication interface (202) configured to receive point cloud frames with respect to a scene and initial pose data of a vehicle captured by sensors (150) equipped on the vehicle as the vehicle moves along a trajectory. The system also includes a storage (208) configured to store the point cloud frames and the initial pose data. The system further includes a processor (204) configured to estimate pose in- formation of the vehicle associated with each of the point cloud frames based on the initial pose data and the point cloud frames. The processor (204) is also configured to adjust the estimated pose information of the vehicle based on a model. The model includes a spatial relationship and a temporal relationship among the plurality of point cloud frames. The processor (204) is further configured to position the vehicle based on the adjusted pose information. Capture pant cl eId Fames t. a scene and iritazl t se d& at a vehicle at leerrehiaire moves along a teal 5702. Pexess the odrst cited frames uhing t ajecl€,ryela b esEd on the melt\" $° v5e data` 5704 Sobmate point doud pose info beset! on the point clue d trernx SiCia 4' :I et pose data SZCIII . II Divide the poke atrud n oes inb tact es 52.111 5(1 1? vt 14 Aggrepte the point ft 1 6 Positron the vehrde based on the 2 info S11#1 W O 20 20/006667 Al FIG. 7