Apparatus and method for updating high definition map for autonomous driving
AssigneeSK Telecom Co., Ltd.
InventorSeongsoo Lee
Life of this patent
Estimating the term…
Abstract
A method for updating a high definition map according to one embodiment comprises: obtaining a two-dimensional image that captures a target area corresponding to at least a part of an area expressed by a three-dimensional high definition map, generating a three-dimensional local landmark map of the target area from a position of a landmark in the two-dimensional image, based on a position and an orientation of a photographing device which has captured the two-dimensional image and updating the high definition map with reference to the local landmark map corresponding to the target area of the three-dimensional high definition map.
Claims13
A method for updating a three-dimensional high definition map, comprising the steps of:
- receiving, from a photographing device, a plurality of two-dimensional images that capture a target area corresponding to at least a part of an area expressed by the three-dimensional high definition map, the plurality of two-dimensional images captured sequentially in a timed order at different positions;
- determining orientations and the different positions of the photographing device in the three-dimensional high definition map by matching the three-dimensional high definition map and one or more of the plurality of two-dimensional images;
- determining transformation matrices for each of the plurality of two-dimensional images, each of the transformation matrices representing conversion between a coordinate system of the three-dimensional high definition map and a coordinate system associated with the photographing device;
- correcting, using latest one of the transformation matrices, the transformation matrices other than the latest one of the transformation matrices using covariance matrices indicating deviation with respect to relative transformation matrices between two of the determined transformation matrices;
- generating a three-dimensional local landmark map of the target area from landmarks in the plurality of two-dimensional images using at least the corrected transformation matrices and the latest one of the transformation matrices;
- updating the three-dimensional high definition map with reference to the three-dimensional local landmark map corresponding to the target area of the three-dimensional high definition map;
- and
- autonomously driving a vehicle equipped with the photographing device using the updated three-dimensional high definition map.
A non-transitory computer-readable recording medium for storing a computer program, which is programmed to execute a method for updating a three-dimensional high definition map, comprising the steps of:
- receiving, from a photographing device, a plurality of two-dimensional images that capture a target area corresponding to at least a part of an area expressed by the three-dimensional high definition map, the plurality of two-dimensional images captured sequentially in a timed order at different positions;
- determining orientations and the different positions of the photographing device in the three-dimensional high definition map by matching the three-dimensional high definition map and one or more of the plurality of two-dimensional images;
- determining transformation matrices for each of the plurality of two-dimensional images, each of the transformation matrices representing conversion between a coordinate system of the three-dimensional high definition map and a coordinate system associated with the photographing device;
- correcting, using latest one of the transformation matrices, the transformation matrices other than the latest one of the transformation matrices using covariance matrices indicating deviation with respect to relative transformation matrices between two of the determined transformation matrices;
- generating a three-dimensional local landmark map of the target area from landmarks in the plurality of two-dimensional images using at least the corrected transformation matrices and the latest one of the transformation matrices;
- updating the three-dimensional high definition map with reference to the three-dimensional local landmark map corresponding to the target area of the three-dimensional high definition maps;
- and
- autonomously driving a vehicle equipped with the photographing device using the updated three-dimensional high definition map.
Dependencies are inferred from the claim text.