EP3574285A4 - Laser scanner with real-time, online ego-motion estimation - Google Patents

Laser scanner with real-time, online ego-motion estimation Download PDF

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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Withdrawn
Application number
EP18745179.4A
Other languages
German (de)
French (fr)
Other versions
EP3574285A1 (en
Inventor
Ji Zhang
Kevin Joseph Dowling
Sanjiv Singh
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kaarta Inc
Original Assignee
Kaarta Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from PCT/US2017/021120 external-priority patent/WO2017155970A1/en
Priority claimed from PCT/US2017/055938 external-priority patent/WO2018071416A1/en
Application filed by Kaarta Inc filed Critical Kaarta Inc
Publication of EP3574285A1 publication Critical patent/EP3574285A1/en
Publication of EP3574285A4 publication Critical patent/EP3574285A4/en
Withdrawn legal-status Critical Current

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)
EP18745179.4A 2017-01-27 2018-01-26 Laser scanner with real-time, online ego-motion estimation Withdrawn EP3574285A4 (en)

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)

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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

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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

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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

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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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