Motion estimation systems and methods
AssigneeCaterpillar Inc.
InventorsQi CHEN, Paul Russell Friend
Life of this patent
Estimating the term…
Abstract
A motion estimation system is disclosed. The motion estimation system may include one or more memories storing instructions, and one or more processors configured to execute the instructions to receive, from a scanning device, scan data representing at least one object obtained by a scan over at least one of the plurality of sub-scanning regions, and generate, from the scan data, a sub-pointcloud for one of the sub-scanning regions. The sub-pointcloud includes a plurality of surface points of the at least one object in the sub-scanning region. The one or more processors may be further configured to execute the instructions to estimate the motion of the machine relative to the at least one object by comparing the sub-pointcloud with a reference sub-pointcloud.
Claims20
A system for estimating a motion of a machine, the system comprising:
- one or more memories storing instructions;
- and
- one or more processors configured to execute the instructions to:
- divide a full scanning region into a plurality of sub-scanning regions;
- receive, from a scanning device, scan data representing at least one object obtained by a scan over at least one of the plurality of sub-scanning regions;
- generate, from the scan data, a sub-pointcloud for one of the sub-scanning regions, the sub-pointcloud including a plurality of surface points of the at least one object in the sub-scanning region;
- and
- estimate the motion of the machine relative to the at least one object by comparing the sub-pointcloud with a reference sub-pointcloud.
A computer-implemented method of estimating a motion of a machine, comprising:
- dividing a full scanning region into a plurality of sub-scanning regions;
- receiving, from a scanning device, scan data representing at least one object obtained by a scan over at least one of the plurality of sub-scanning regions;
- generating, by a processor, a sub-pointcloud from the scan data for one of the sub-scanning regions, the sub-pointcloud including a plurality of surface points of the at least one object in the sub-scanning region;
- and
- estimating, by the processor, the motion of the machine relative to the at least one object by comparing the sub-pointcloud with a reference sub-pointcloud.
A system, comprising:
- a scanning device capable of being mounted on a machine and configured to scan at least one object over a sub-scanning region among a plurality of sub-scanning regions of a full scanning region and generate a sub-pointcloud of the sub-scanning region, the sub-pointcloud including a plurality of surface points of the at least one object in the sub-scanning region;
- a controller configured to estimate a motion of the machine relative to the at least one object by comparing the sub-pointcloud with a corresponding reference sub-pointcloud.
Dependencies are inferred from the claim text.