GB2599947B - Visual-inertial localisation in an existing map - Google Patents

Visual-inertial localisation in an existing map Download PDF

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Publication number
GB2599947B
GB2599947B GB2016444.8A GB202016444A GB2599947B GB 2599947 B GB2599947 B GB 2599947B GB 202016444 A GB202016444 A GB 202016444A GB 2599947 B GB2599947 B GB 2599947B
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GB
United Kingdom
Prior art keywords
localisation
inertial
visual
existing map
map
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.)
Active
Application number
GB2016444.8A
Other versions
GB2599947A (en
GB202016444D0 (en
Inventor
F Alcantarilla Pablo
Morgand Alexandre
Boucher Maxime
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.)
Slamcore Ltd
Original Assignee
Slamcore Ltd
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
Application filed by Slamcore Ltd filed Critical Slamcore Ltd
Priority to GB2016444.8A priority Critical patent/GB2599947B/en
Publication of GB202016444D0 publication Critical patent/GB202016444D0/en
Priority to PCT/EP2021/078701 priority patent/WO2022079292A1/en
Priority to EP21794151.7A priority patent/EP4229598A1/en
Priority to PCT/EP2021/078643 priority patent/WO2022079258A1/en
Priority to US17/995,195 priority patent/US11830218B2/en
Publication of GB2599947A publication Critical patent/GB2599947A/en
Application granted granted Critical
Publication of GB2599947B publication Critical patent/GB2599947B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Image Analysis (AREA)
GB2016444.8A 2020-10-16 2020-10-16 Visual-inertial localisation in an existing map Active GB2599947B (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
GB2016444.8A GB2599947B (en) 2020-10-16 2020-10-16 Visual-inertial localisation in an existing map
PCT/EP2021/078701 WO2022079292A1 (en) 2020-10-16 2021-10-15 Initialising keyframes for visual-inertial localisation and/or mapping
EP21794151.7A EP4229598A1 (en) 2020-10-16 2021-10-15 Initialising keyframes for visual-inertial localisation and/or mapping
PCT/EP2021/078643 WO2022079258A1 (en) 2020-10-16 2021-10-15 Visual-inertial localisation in an existing map
US17/995,195 US11830218B2 (en) 2020-10-16 2021-10-15 Visual-inertial localisation in an existing map

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB2016444.8A GB2599947B (en) 2020-10-16 2020-10-16 Visual-inertial localisation in an existing map

Publications (3)

Publication Number Publication Date
GB202016444D0 GB202016444D0 (en) 2020-12-02
GB2599947A GB2599947A (en) 2022-04-20
GB2599947B true GB2599947B (en) 2022-10-19

Family

ID=73598312

Family Applications (1)

Application Number Title Priority Date Filing Date
GB2016444.8A Active GB2599947B (en) 2020-10-16 2020-10-16 Visual-inertial localisation in an existing map

Country Status (1)

Country Link
GB (1) GB2599947B (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113160336B (en) * 2021-05-11 2023-07-07 北京易航远智科技有限公司 Vehicle-mounted looking-around camera calibration method under simple calibration environment
CN113963188A (en) * 2021-09-16 2022-01-21 杭州易现先进科技有限公司 Method, system, device and medium for visual positioning by combining map information
CN114111767B (en) * 2021-10-28 2023-11-03 北京自动化控制设备研究所 Method for optimizing line design line type based on multi-information fusion

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170249752A1 (en) * 2016-02-29 2017-08-31 Canon Kabushiki Kaisha Device for measuring position and orientation of imaging apparatus and method therefor

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170249752A1 (en) * 2016-02-29 2017-08-31 Canon Kabushiki Kaisha Device for measuring position and orientation of imaging apparatus and method therefor

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, vol 34, 2014, STEFAN LEUTENEGGER ET AL, "Keyframe-based visual-inertial odometry using nonlinear optimization", pages 314-334 *
MSC THESIS, 2019, RINGDAHL VIKTOR, "Stereo Camera Pose Estimation to Enable Loop Detection" *
ROBOTICS AND AUTOMATION (ICRA), 2011, PABLO F ALCANTARILLA ET AL, "Visibility learning in large-scale urban environment", pages 6205-6212 *

Also Published As

Publication number Publication date
GB2599947A (en) 2022-04-20
GB202016444D0 (en) 2020-12-02

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