System and method for estimating odometry using lidar and artificial intelligence
AssigneesHyundai Motor Company, Kia Corporation
InventorsEun Ji CHO, Dong Wook SHU
Life of this patent
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Abstract
An apparatus of a vehicle may comprise a processor and a memory storing at least one instruction that, when executed by the processor communicating with the memory, is configured to cause the apparatus to obtain, from a sensor of the vehicle, point cloud data associated with at least one object in a surrounding environment of the vehicle, extract, based on an artificial intelligence model of the vehicle, a surface and edge feature for each frame of the point cloud data, update 6 degrees of freedom (6-DOF) odometry-related information of the vehicle, update a map of the surrounding environment of the vehicle, output a signal indicating the updated map, and control, based on the signal, autonomous driving of the vehicle.
Claims20
An apparatus of a vehicle, the apparatus comprising:
- a processor;
- and
- a memory storing at least one instruction that, when executed by the processor communicating with the memory, is configured to cause the apparatus to:
- obtain, from a sensor of the vehicle, point cloud data associated with at least one object in a surrounding environment of the vehicle,
- extract, based on an artificial intelligence model of the vehicle, a surface and edge feature for each frame of the point cloud data,
- based on the extracted surface and edge feature, update 6 degrees of freedom (6-DOF) odometry-related information of the vehicle,
- based on the updated 6-DOF odometry-related information, update a map of the surrounding environment of the vehicle,
- output a signal indicating the updated map, and
- control, based on the signal, autonomous driving of the vehicle.
A method performed by an apparatus of a vehicle, the method comprising:
- obtaining, from a sensor of the vehicle, point cloud data associated with at least one object in a surrounding environment of the vehicle;
- extracting, based on an artificial intelligence model of the vehicle, a surface and edge feature for each frame of the point cloud data;
- based on the extracted surface and edge feature, updating 6 degrees of freedom (6-DOF) odometry-related information of the vehicle;
- based on the updated 6-DOF odometry-related information,
- updating a map of the surrounding environment of the vehicle;
- outputting a signal indicating the updated map;
- and
- controlling, based on the signal, autonomous driving of the vehicle.
A vehicle comprising:
- a sensor;
- a driving control circuit configured to control autonomous driving of the vehicle;
- a processor;
- and
- a memory storing at least one instruction that, when executed by the processor communicating with the memory, is configured to cause the vehicle to:
- obtain, from the sensor, point cloud data associated with a surrounding environment of the vehicle,
- extract, from the point cloud data, a surface feature and an edge feature, wherein the surface feature and the edge feature represent static structures in the surrounding environment,
- determine, based on the extracted surface feature and the extracted edge feature, odometry information of the vehicle,
- update, based on spatial relationships within the point cloud data, the odometry information,
- generate, based on the updated odometry information, a map of the surrounding environment,
- output a signal indicating the map of the surrounding environment, and
- control, via the driving control circuit and based on the signal, autonomous driving of the vehicle.
Dependencies are inferred from the claim text.