3D submap reconstruction system and method for centimeter precision localization using camera-based submap and LiDAR-based global map
AssigneeTusimple, Inc.
InventorsYi Luo, Yi Wang, Ke Xu
Life of this patent
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Abstract
A method of localization for a non-transitory computer readable storage medium storing one or more programs is disclosed. The one or more programs comprise instructions, which when executed by a computing device, cause the computing device to perform by one or more autonomous vehicle driving modules execution of processing of images from a camera and data from a LiDAR using the following steps comprising: voxelizing a 3D submap and a global map into voxels; estimating distribution of 3D points within the voxels, using a probabilistic model; extracting features from the 3D submap and the global map; and classifying the extracted features into classes.
Claims20
A method for localization of an autonomous vehicle, comprising:
- receiving images from a camera, generating a 3D submap from the images, and converting the 3D submap into first voxels;
- receiving data from a light detection and ranging (LiDAR), generating a global map from the data, and converting the global map into second voxels;
- estimating a distribution of 3D points within the first and second voxels using a probabilistic model;
- extracting features from the 3D submap and the global map;
- classifying the extracted features into classes;
- and
- matching the features extracted from the 3D submap against features extracted from the global map.
A system for generating a global map, the system comprising:
- a memory;
- one or more processors;
- and
- one or more programs stored in the memory that when executed by the one or more processors perform at least:
- obtaining data from a light detection and ranging (LiDAR) sensor, images from a camera, and location information from an inertial navigation module;
- performing data alignment of the data, the images, and the location information;
- removing distortion from a motion of points in the LiDAR data;
- estimating positions of the points in the LiDAR data using interpolation;
- generating a global map using the positions of the points;
- and
- increasing precision of the global map using a point registration.
A method for generating a global map, comprising:
- obtaining data from a light detection and ranging (LiDAR) sensor, images from a camera, and location information from an inertial navigation module;
- performing data alignment of the data, the images, and the location information;
- removing distortion from a motion of points in the LiDAR data;
- estimating positions of the points in the LiDAR data using interpolation;
- generating a global map using the positions of the points;
- and
- increasing precision of the global map using a point registration.
Dependencies are inferred from the claim text.