US 2022/0189102 A1 · HIGH-DEFINITION CITY MAPPING

Abstract

A vehicle generates a city-scale map. The vehicle includes one or more Lidar sensors configured to obtain point clouds at different positions, orientations, and times, one or more processors, and a memory storing instructions that, when executed by the one or more processors, cause the system to perform registering, in pairs, a subset of the point clouds based on respective surface normals of each of the point clouds; determining loop closures based on the registered subset of point clouds; determining a position and an orientation of each of the subset of the point clouds based on constraints associated with the determined loop closures; and generating a map based on the determined position and the orientation of each of the subset of the point clouds.

Claims20

Dependent claims

A computing system on a vehicle configured to generate a city-scale map, the computing system configured to generate a city-scale map and comprising:

one or more processors;
and
a memory storing instructions that, when executed by the one or more processors, cause the system to perform:
obtaining point clouds at different positions, orientations, or times;
registering, in pairs, a subset of the point clouds based on respective surface normals of each of the point clouds;
obtaining inertial measurement unit (IMU) data from an IMU and global navigation satellite system (GNSS) data from a GNSS sensor;
fusing the GNSS data and the IMU data;
determining a position or an orientation of each of the subset of the point clouds based on a constraint associated with the fused GNSS and IMU data;
and
generating a map based on the determined position or the orientation of each of the subset of the point clouds.

7 more elements

A computer-implemented method performed by one or more processors on a vehicle, comprising:

obtaining point clouds at different positions, orientations, or times;
registering, in pairs, a subset of the point clouds based on respective surface normals of each of the point clouds;
obtaining inertial measurement unit (IMU) data from an IMU and global navigation satellite system (GNSS) data from a GNSS sensor;
fusing the GNSS data and the IMU data;
determining a position or an orientation of each of the subset of the point clouds based on a constraint associated with the fused GNSS and IMU data;
and
generating a map based on the determined position or the orientation of each of the subset of the point clouds.

4 more elements

Dependencies are inferred from the claim text.

High-definition city mapping

Life of this patent

High-definition city mapping

Life of this patent

Abstract

Claims20