3d point cloud map alignment with open street map for outdoor 6d localization on mobile platforms

A method of mapping and localization, comprising:

• synchronizing a set of timestamps of a set of sensor data including a set of OPS coordinates;
• assigning a closest GPS timestamp corresponding to the set of GPS coordinates to the set of sensor data;
• fusing the set of sensor data based on a Kalman filter to synthesize a set of high-frequency location data;
• reconstructing a point cloud and a camera pose based on VSLAM;
• resealing the point cloud and the camera pose;
• transforming the resealed point cloud and camera pose into an IMU point cloud and an IMU camera pose;
• transforming the IMU point cloud and the MU camera pose into a NED point cloud and a NED camera pose;
• transforming the NED point cloud and the NED camera pose into a OPS point cloud and a GPS camera pose:,
• constructing a key-frame GPS based on the set of GPS coordinates;
• and
• storing the GPS point cloud, the GPS camera pose, the key-frame GPS and the closest GPS timestamp.

A method of mapping and localization, comprising:

• synchronizing a set of timestamps of a set of sensor data including a set of GPS coordinates;
• assigning a closest GPS timestamp corresponding to the set of GPS coordinates to the set of sensor data;
• fusing the set of sensor data based on a Kalman filter to synthesize a set of high-frequency location data;
• reconstructing a point cloud and a camera pose based on VSLAM;
• resealing the point cloud and the camera pose;
• transforming the resealed point cloud and camera pose into an IMU point cloud and an MU camera pose;
• transforming the IMU point cloud and the IMU camera pose into a NED point cloud and a NED camera pose;
• transforming the NED point cloud and the NED camera pose into a OPS point cloud and GPS camera pose;
• determining a range of key-frame images based on the set of GPS coordinates associated with the closest GPS timestamp;
• selecting a current image as a candidate key-frame image within the range of key-frame images;
• constructing a key-frame GPS based on the set of GPS coordinates and the key-frame candidate image;
• constructing a key-frame image based on the key-frame candidate image;
• and
• storing the GPS point cloud, the GPS camera pose, the key-frame image, the key-frame GPS, and the closest timestamp.