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US 12,705,791 B2Granted
Localization processing service
AssigneeAerocine Ventures, Inc.
InventorsBrian Streem, Ricardo Achilles Filho, Vijaykumar Sureshkumar
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Abstract
Systems, methods, and computer-readable media for providing a localization processing service for enabling localization of a navigation network-restricted subsystem are provided.
Claims30
A method of localizing a mobile subsystem comprising an image sensor component, an orientation sensor component, a memory component, and a processing module communicatively coupled to the image sensor component, the orientation sensor component, and the memory component, the method comprising:
- storing, with the memory component, a map feature database comprising a plurality of map feature entries, wherein:
- each map feature entry of the plurality of map feature entries is respectively associated with a rendered map image of a plurality of rendered map images rendered from a georeferenced three-dimensional map;
- and
- each map feature entry of the plurality of map feature entries comprises at least one map feature vector indicative of at least one map feature that has been extracted from the rendered map image associated with the map feature entry;
- and
- after the storing, while the mobile subsystem is denied communication with any navigation subsystem, the method further comprises:
- moving the mobile subsystem;
- after at least a portion of the moving, capturing, at a moment in time with the image sensor component, an image;
- extracting, with the processing module, at least one captured image feature from the captured image;
- generating, with the processing module, at least one captured image feature vector based on at least one of the at least one extracted captured image feature;
- comparing, with the processing module, the at least one captured image feature vector with at least one map feature vector from each map feature entry of at least a portion of the plurality of map feature entries of the stored map feature database;
- classifying, with the processing module, at least one particular map feature entry of the plurality of map feature entries as a matching map feature entry based on the comparing;
- and
- defining, with the processing module, an estimated location of the mobile subsystem at the moment in time based on the classifying.
11 more elements
A method of localizing a mobile subsystem comprising an image sensor component, an orientation sensor component, a memory component, and a processing module communicatively coupled to the image sensor component, the orientation sensor component, and the memory component, the method comprising:
- storing, with the memory component, a three-dimensional map;
- after the storing, moving the mobile subsystem;
- after the moving, capturing, at a moment in time with the image sensor component, an image;
- determining, with the processing module, an initial guess of the positioning of the mobile subsystem for the moment in time;
- rendering, with the processing module, a plurality of rendered map images from the stored three-dimensional map, wherein each rendered map image of the plurality of rendered map images is associated with a respective map positioning that is related to the determined initial guess of the positioning of the mobile subsystem for the moment in time;
- extracting, with the processing module, the following:
- at least one image feature from the captured image;
- and
- at least one map feature from each rendered map image of at least a subset of the plurality of rendered map images;
- comparing, with the processing module, the at least one extracted image feature with the at least one extracted map feature from each rendered map image of the at least the subset of the plurality of rendered map images;
- classifying, with the processing module, at least one rendered map image of the plurality of rendered map images as a matching rendered map image based on the comparing;
- and
- defining, with the processing module, an estimated location of the mobile subsystem at the moment in time based on the classifying.
10 more elements
A method of localizing a mobile subsystem comprising an image sensor component, an orientation sensor component, a memory component, and a processing module communicatively coupled to the image sensor component, the orientation sensor component, and the memory component, the method comprising:
- defining a map feature database comprising a plurality of map feature entries, wherein:
- each map feature entry of the plurality of map feature entries is respectively associated with a rendered map image of a plurality of rendered map images rendered from a georeferenced three-dimensional map;
- and
- each map feature entry of the plurality of map feature entries comprises:
- at least one map feature vector indicative of at least one map feature that has been extracted from the rendered map image associated with the map feature entry;
- and
- map location data indicative of a map location of the rendered map image associated with the map feature entry;
- storing, with the memory component, the defined map feature database;
- capturing, at a moment in time with the image sensor component, an image;
- extracting, with the processing module, at least one captured image feature from the captured image;
- generating, with the processing module, at least one captured image feature vector based on at least one of the at least one extracted captured image feature;
- comparing, with the processing module, the at least one captured image feature vector with at least one map feature vector from each map feature entry of at least a portion of the plurality of map feature entries of the stored map feature database;
- classifying, with the processing module, at least one particular map feature entry of the plurality of map feature entries as a matching map feature entry based on the comparing;
- defining, with the processing module, an estimated location of the mobile subsystem at the moment in time based on the classifying, wherein the defining comprises defining the estimated location of the mobile subsystem at the moment in time based on the map location data of each classified matching map feature entry;
- obtaining, at the moment in time with the orientation sensor component, an orientation of the image sensor component;
- determining, with the processing module, mobile subsystem orientation data by virtual inertial odometry processing the obtained orientation of the image sensor component in conjunction with the at least one extracted captured image feature;
- and
- determining, with the processing module, a pose estimation of the mobile subsystem at the moment in time by global trajectory alignment processing the determined mobile subsystem orientation data in conjunction with the defined estimated location of the mobile subsystem at the moment in time.
15 more elements
Dependencies are inferred from the claim text.