EP3574285A4 - Laser scanner with real-time, online ego-motion estimation - Google Patents
Laser scanner with real-time, online ego-motion estimation Download PDFInfo
- Publication number
- EP3574285A4 EP3574285A4 EP18745179.4A EP18745179A EP3574285A4 EP 3574285 A4 EP3574285 A4 EP 3574285A4 EP 18745179 A EP18745179 A EP 18745179A EP 3574285 A4 EP3574285 A4 EP 3574285A4
- Authority
- EP
- European Patent Office
- Prior art keywords
- real
- time
- motion estimation
- laser scanner
- ego
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
- G01C21/1656—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments with passive imaging devices, e.g. cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/4808—Evaluating distance, position or velocity data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver
- G01S7/4813—Housing arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Image Analysis (AREA)
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201762451294P | 2017-01-27 | 2017-01-27 | |
PCT/US2017/021120 WO2017155970A1 (en) | 2016-03-11 | 2017-03-07 | Laser scanner with real-time, online ego-motion estimation |
PCT/US2017/055938 WO2018071416A1 (en) | 2016-10-11 | 2017-10-10 | Laser scanner with real-time, online ego-motion estimation |
PCT/US2018/015403 WO2018140701A1 (en) | 2017-01-27 | 2018-01-26 | Laser scanner with real-time, online ego-motion estimation |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3574285A1 EP3574285A1 (en) | 2019-12-04 |
EP3574285A4 true EP3574285A4 (en) | 2020-12-02 |
Family
ID=62979592
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP18745179.4A Withdrawn EP3574285A4 (en) | 2017-01-27 | 2018-01-26 | Laser scanner with real-time, online ego-motion estimation |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3574285A4 (en) |
JP (1) | JP7141403B2 (en) |
WO (1) | WO2018140701A1 (en) |
Families Citing this family (35)
Publication number | Priority date | Publication date | Assignee | Title |
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US10989542B2 (en) | 2016-03-11 | 2021-04-27 | Kaarta, Inc. | Aligning measured signal data with slam localization data and uses thereof |
EP3427008B1 (en) | 2016-03-11 | 2022-09-07 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
US11573325B2 (en) | 2016-03-11 | 2023-02-07 | Kaarta, Inc. | Systems and methods for improvements in scanning and mapping |
US11567201B2 (en) | 2016-03-11 | 2023-01-31 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
EP3646058A4 (en) * | 2017-06-30 | 2020-12-02 | Kaarta, Inc. | Systems and methods for improvements in scanning and mapping |
WO2019099605A1 (en) | 2017-11-17 | 2019-05-23 | Kaarta, Inc. | Methods and systems for geo-referencing mapping systems |
WO2019165194A1 (en) | 2018-02-23 | 2019-08-29 | Kaarta, Inc. | Methods and systems for processing and colorizing point clouds and meshes |
WO2019195270A1 (en) | 2018-04-03 | 2019-10-10 | Kaarta, Inc. | Methods and systems for real or near real-time point cloud map data confidence evaluation |
WO2020009826A1 (en) | 2018-07-05 | 2020-01-09 | Kaarta, Inc. | Methods and systems for auto-leveling of point clouds and 3d models |
DE102018214694A1 (en) * | 2018-08-30 | 2020-03-05 | Continental Automotive Gmbh | Localization device for the visual localization of a vehicle |
JP2020042329A (en) * | 2018-09-06 | 2020-03-19 | 株式会社ユニックス | Building material preprocessing system and building material preprocessing method |
US11023742B2 (en) | 2018-09-07 | 2021-06-01 | Tusimple, Inc. | Rear-facing perception system for vehicles |
WO2020097796A1 (en) | 2018-11-13 | 2020-05-22 | Beijing Didi Infinity Technology And Development Co., Ltd. | Methods and systems for color point cloud generation |
CN109945890B (en) * | 2018-11-21 | 2022-01-25 | 财团法人车辆研究测试中心 | Multi-positioning system switching and fusion correction method and device |
US10991117B2 (en) | 2018-12-23 | 2021-04-27 | Samsung Electronics Co., Ltd. | Performing a loop closure detection |
CN111380515B (en) * | 2018-12-29 | 2023-08-18 | 纳恩博(常州)科技有限公司 | Positioning method and device, storage medium and electronic device |
WO2020176838A1 (en) * | 2019-02-28 | 2020-09-03 | Brain Corporation | Systems, and methods for merging disjointed map and route data with respect to a single origin for autonomous robots |
DE102019206036A1 (en) | 2019-04-26 | 2020-10-29 | Volkswagen Aktiengesellschaft | Method and device for determining the geographical position and orientation of a vehicle |
CN110243358B (en) * | 2019-04-29 | 2023-01-03 | 武汉理工大学 | Multi-source fusion unmanned vehicle indoor and outdoor positioning method and system |
CN110132302A (en) * | 2019-05-20 | 2019-08-16 | 中国科学院自动化研究所 | Merge binocular vision speedometer localization method, the system of IMU information |
CN110132306B (en) * | 2019-05-20 | 2021-02-19 | 广州小鹏汽车科技有限公司 | Method and system for correcting vehicle positioning error |
CN110298103A (en) * | 2019-06-25 | 2019-10-01 | 中国电建集团成都勘测设计研究院有限公司 | The steep Dangerous Rock Body investigation method of height based on unmanned aerial vehicle onboard three-dimensional laser scanner |
CN110243375A (en) * | 2019-06-26 | 2019-09-17 | 汕头大学 | Method that is a kind of while constructing two-dimensional map and three-dimensional map |
GB2587794A (en) * | 2019-08-27 | 2021-04-14 | Hybird Ltd | Inspection apparatus and method |
DE102019216548A1 (en) * | 2019-10-28 | 2021-04-29 | DeepUp GmbH | Method and mobile detection device for the detection of infrastructure elements of an underground line network |
FR3103283B1 (en) * | 2019-11-20 | 2022-07-29 | Thales Sa | ELECTRONIC DEVICE AND METHOD FOR ESTIMATING POSITION(S) OF AIR TRAFFIC ELEMENT(S), ASSOCIATED DISPLAY SYSTEM AND COMPUTER PROGRAM |
CN111076724B (en) * | 2019-12-06 | 2023-12-22 | 苏州艾吉威机器人有限公司 | Three-dimensional laser positioning method and system |
CN111009036B (en) * | 2019-12-10 | 2023-11-21 | 北京歌尔泰克科技有限公司 | Grid map correction method and device in synchronous positioning and map construction |
CN111258313B (en) * | 2020-01-20 | 2022-06-07 | 深圳市普渡科技有限公司 | Multi-sensor fusion SLAM system and robot |
US20210404814A1 (en) * | 2020-06-30 | 2021-12-30 | Lyft, Inc. | Map Generation Using Two Sources of Sensor Data |
JPWO2022102577A1 (en) * | 2020-11-13 | 2022-05-19 | ||
DE102021117311A1 (en) | 2021-07-05 | 2023-01-05 | Spleenlab GmbH | Control and navigation device for an autonomously moving system and autonomously moving system |
CN114296096A (en) * | 2021-12-23 | 2022-04-08 | 深圳优地科技有限公司 | Robot positioning method, system and terminal |
AU2023200522B1 (en) | 2022-06-24 | 2023-04-13 | Commonwealth Scientific And Industrial Research Organisation | Clock synchronisation |
GB202210178D0 (en) * | 2022-07-11 | 2022-08-24 | Cambridge Entpr Ltd | 3d scene capture system |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011097018A1 (en) * | 2010-02-05 | 2011-08-11 | Trimble Navigation Limited | Systems and methods for processing mapping and modeling data |
WO2015105597A2 (en) * | 2013-11-27 | 2015-07-16 | The Trustees Of The University Of Pennsylvania | Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (mav) |
EP3109589A1 (en) * | 2015-06-23 | 2016-12-28 | Volvo Car Corporation | A unit and method for improving positioning accuracy |
WO2017155970A1 (en) * | 2016-03-11 | 2017-09-14 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
WO2018071416A1 (en) * | 2016-10-11 | 2018-04-19 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080033645A1 (en) * | 2006-08-03 | 2008-02-07 | Jesse Sol Levinson | Pobabilistic methods for mapping and localization in arbitrary outdoor environments |
EP2306423B1 (en) * | 2008-07-10 | 2013-04-10 | Mitsubishi Electric Corporation | Train-of-vehicle travel support device |
US8855929B2 (en) * | 2010-01-18 | 2014-10-07 | Qualcomm Incorporated | Using object to align and calibrate inertial navigation system |
US9607401B2 (en) * | 2013-05-08 | 2017-03-28 | Regents Of The University Of Minnesota | Constrained key frame localization and mapping for vision-aided inertial navigation |
RU2669652C1 (en) * | 2015-07-13 | 2018-10-12 | Ниссан Мотор Ко., Лтд. | Device for defining own position and method of defining own position |
-
2018
- 2018-01-26 JP JP2019540661A patent/JP7141403B2/en active Active
- 2018-01-26 EP EP18745179.4A patent/EP3574285A4/en not_active Withdrawn
- 2018-01-26 WO PCT/US2018/015403 patent/WO2018140701A1/en unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011097018A1 (en) * | 2010-02-05 | 2011-08-11 | Trimble Navigation Limited | Systems and methods for processing mapping and modeling data |
WO2015105597A2 (en) * | 2013-11-27 | 2015-07-16 | The Trustees Of The University Of Pennsylvania | Multi-sensor fusion for robust autonomous flight in indoor and outdoor environments with a rotorcraft micro-aerial vehicle (mav) |
EP3109589A1 (en) * | 2015-06-23 | 2016-12-28 | Volvo Car Corporation | A unit and method for improving positioning accuracy |
WO2017155970A1 (en) * | 2016-03-11 | 2017-09-14 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
WO2018071416A1 (en) * | 2016-10-11 | 2018-04-19 | Kaarta, Inc. | Laser scanner with real-time, online ego-motion estimation |
Non-Patent Citations (1)
Title |
---|
See also references of WO2018140701A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2018140701A1 (en) | 2018-08-02 |
JP2020507072A (en) | 2020-03-05 |
JP7141403B2 (en) | 2022-09-22 |
EP3574285A1 (en) | 2019-12-04 |
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A4 | Supplementary search report drawn up and despatched |
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RIC1 | Information provided on ipc code assigned before grant |
Ipc: G01S 7/48 20060101ALI20201027BHEP Ipc: G01C 21/32 20060101ALI20201027BHEP Ipc: G01S 17/86 20200101ALI20201027BHEP Ipc: G01S 17/42 20060101ALI20201027BHEP Ipc: G01C 11/02 20060101AFI20201027BHEP Ipc: G01C 21/16 20060101ALI20201027BHEP Ipc: G01S 17/89 20200101ALI20201027BHEP Ipc: G01S 7/481 20060101ALI20201027BHEP Ipc: G01S 17/88 20060101ALI20201027BHEP |
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