EP3646058A4 - Systèmes et procédés d'améliorations de balayage et de mise en correspondance - Google Patents

Systèmes et procédés d'améliorations de balayage et de mise en correspondance Download PDF

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Publication number
EP3646058A4
EP3646058A4 EP18824609.4A EP18824609A EP3646058A4 EP 3646058 A4 EP3646058 A4 EP 3646058A4 EP 18824609 A EP18824609 A EP 18824609A EP 3646058 A4 EP3646058 A4 EP 3646058A4
Authority
EP
European Patent Office
Prior art keywords
imaging
systems
methods
improving scan
scan
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.)
Pending
Application number
EP18824609.4A
Other languages
German (de)
English (en)
Other versions
EP3646058A1 (fr
Inventor
Steven HUBER
Calvin Wade Sheen
Ji Zhang
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.)
Carnegie Mellon University
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/US2017/055938 external-priority patent/WO2018071416A1/fr
Priority claimed from PCT/US2018/015403 external-priority patent/WO2018140701A1/fr
Application filed by Kaarta Inc filed Critical Kaarta Inc
Publication of EP3646058A1 publication Critical patent/EP3646058A1/fr
Publication of EP3646058A4 publication Critical patent/EP3646058A4/fr
Pending 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
    • G01S17/02—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
    • 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
    • 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
    • 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
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Traffic Control Systems (AREA)
EP18824609.4A 2017-06-30 2018-06-29 Systèmes et procédés d'améliorations de balayage et de mise en correspondance Pending EP3646058A4 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US201762527341P 2017-06-30 2017-06-30
PCT/US2017/055938 WO2018071416A1 (fr) 2016-10-11 2017-10-10 Scanner laser à estimation d'égo-mouvement en ligne en temps réel
PCT/US2018/015403 WO2018140701A1 (fr) 2017-01-27 2018-01-26 Dispositif de balayage laser à estimation en temps réel du mouvement propre en ligne
PCT/US2018/040269 WO2019006289A1 (fr) 2017-06-30 2018-06-29 Systèmes et procédés d'améliorations de balayage et de mise en correspondance

Publications (2)

Publication Number Publication Date
EP3646058A1 EP3646058A1 (fr) 2020-05-06
EP3646058A4 true EP3646058A4 (fr) 2020-12-02

Family

ID=64742246

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18824609.4A Pending EP3646058A4 (fr) 2017-06-30 2018-06-29 Systèmes et procédés d'améliorations de balayage et de mise en correspondance

Country Status (2)

Country Link
EP (1) EP3646058A4 (fr)
WO (1) WO2019006289A1 (fr)

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10989542B2 (en) 2016-03-11 2021-04-27 Kaarta, Inc. Aligning measured signal data with slam localization data and uses thereof
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
CN109313024B (zh) 2016-03-11 2022-06-17 卡尔塔股份有限公司 具有实时在线自我运动估计的激光扫描仪
WO2019099605A1 (fr) 2017-11-17 2019-05-23 Kaarta, Inc. Procédés et systèmes de géoréférencement de systèmes de cartographie
WO2019165194A1 (fr) 2018-02-23 2019-08-29 Kaarta, Inc. Systèmes et procédés de traitement et de colorisation de nuages de points et de maillages
WO2019195270A1 (fr) 2018-04-03 2019-10-10 Kaarta, Inc. Procédés et systèmes d'évaluation de confiance de données de carte de nuage de points en temps réel ou quasi réel
WO2020009826A1 (fr) 2018-07-05 2020-01-09 Kaarta, Inc. Procédés et systèmes de mise à niveau automatique de nuages de points et de modèles 3d
US10547974B1 (en) * 2019-03-19 2020-01-28 Microsoft Technology Licensing, Llc Relative spatial localization of mobile devices
US11506502B2 (en) * 2019-07-12 2022-11-22 Honda Motor Co., Ltd. Robust localization
WO2021035748A1 (fr) * 2019-08-30 2021-03-04 深圳市大疆创新科技有限公司 Procédé d'acquisition d'orientation, système et plate-forme mobile
CN110501712B (zh) * 2019-09-05 2022-06-28 北京百度网讯科技有限公司 无人驾驶中用于确定位置姿态数据的方法、装置和设备
ES2824873A1 (es) * 2019-11-13 2021-05-13 Fund Tekniker Metodo y sistema para el seguimiento espacial de objetos
CN115494518B (zh) * 2022-08-15 2025-05-09 杭州羽亿创智科技有限公司 一种基于模式切换的建图方法及激光雷达设备

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014048475A1 (fr) * 2012-09-27 2014-04-03 Metaio Gmbh Procédé de détermination de la position et de l'orientation d'un dispositif associé à un dispositif de capture pour capturer au moins une image
WO2014130854A1 (fr) * 2013-02-21 2014-08-28 Regents Of The Univesity Of Minnesota Étalonnage de paramètre intrinsèque d'un système de navigation inertielle à vision assistée
WO2018071416A1 (fr) * 2016-10-11 2018-04-19 Kaarta, Inc. Scanner laser à estimation d'égo-mouvement en ligne en temps réel
WO2018140701A1 (fr) * 2017-01-27 2018-08-02 Kaarta, Inc. Dispositif de balayage laser à estimation en temps réel du mouvement propre en ligne

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2004059900A2 (fr) * 2002-12-17 2004-07-15 Evolution Robotics, Inc. Systemes et procedes de localisation et de cartographie visuelles simultanees
US8542219B2 (en) * 2004-01-30 2013-09-24 Electronic Scripting Products, Inc. Processing pose data derived from the pose of an elongate object
FR2945624B1 (fr) * 2009-05-15 2011-06-10 Mbda France Procede et systeme d'estimation d'une trajectoire d'un mobile
US10481265B2 (en) * 2011-12-21 2019-11-19 Robotic paradigm Systems LLC Apparatus, systems and methods for point cloud generation and constantly tracking position
WO2014013363A1 (fr) * 2012-07-18 2014-01-23 Creaform Inc. Balayage en 3 dimensions et interface de positionnement
US9083960B2 (en) * 2013-01-30 2015-07-14 Qualcomm Incorporated Real-time 3D reconstruction with power efficient depth sensor usage
US9430038B2 (en) * 2014-05-01 2016-08-30 Microsoft Technology Licensing, Llc World-locked display quality feedback

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014048475A1 (fr) * 2012-09-27 2014-04-03 Metaio Gmbh Procédé de détermination de la position et de l'orientation d'un dispositif associé à un dispositif de capture pour capturer au moins une image
WO2014130854A1 (fr) * 2013-02-21 2014-08-28 Regents Of The Univesity Of Minnesota Étalonnage de paramètre intrinsèque d'un système de navigation inertielle à vision assistée
WO2018071416A1 (fr) * 2016-10-11 2018-04-19 Kaarta, Inc. Scanner laser à estimation d'égo-mouvement en ligne en temps réel
WO2018140701A1 (fr) * 2017-01-27 2018-08-02 Kaarta, Inc. Dispositif de balayage laser à estimation en temps réel du mouvement propre en ligne

Also Published As

Publication number Publication date
WO2019006289A1 (fr) 2019-01-03
EP3646058A1 (fr) 2020-05-06

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