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1. CN112105890 - A RGB POINT CLOUDS BASED MAP GENERATION SYSTEM FOR AUTONOMOUS VEHICLES

Office
China
Application Number 201980002329.2
Application Date 30.01.2019
Publication Number 112105890
Publication Date 18.12.2020
Publication Kind A
IPC
G01C 21/00
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/-G01C19/104
G06T 3/40
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
3Geometric image transformation in the plane of the image
40Scaling of a whole image or part thereof
CPC
G01S 17/86
GPHYSICS
01MEASURING; TESTING
SRADIO 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
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
86Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
G01S 17/89
GPHYSICS
01MEASURING; TESTING
SRADIO 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
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
89for mapping or imaging
G01S 17/931
GPHYSICS
01MEASURING; TESTING
SRADIO 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
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
G06T 7/33
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
30Determination of transform parameters for the alignment of images, i.e. image registration
33using feature-based methods
G06T 7/579
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
55from multiple images
579from motion
G06T 2200/04
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2200Indexing scheme for image data processing or generation, in general
04involving 3D image data
Applicants BAIDU.COM TIMES TECHNOLOGY (BEIJING) CO., LTD.
百度时代网络技术(北京)有限公司
BAIDU USA LLC
百度(美国)有限责任公司
Inventors XIAO YONG
肖勇
HE RUNXIN
何润欣
YUAN PENGFEI
袁鹏飞
YU LI
余丽
SONG SHIYU
宋适宇
Agents 北京英赛嘉华知识产权代理有限责任公司 11204
北京英赛嘉华知识产权代理有限责任公司 11204
Title
(EN) A RGB POINT CLOUDS BASED MAP GENERATION SYSTEM FOR AUTONOMOUS VEHICLES
(ZH) 用于自动驾驶车辆的基于RGB点云的地图生成系统
Abstract
(EN) In one embodiment, a system receives a number of point clouds captured by one or more LIDAR sensors of an ADV and corresponding poses(1801). The system receives a number of RGB images from one or moreimage capturing sensors of the ADV(1802). The system synchronizes the RGB images with the point clouds to obtain RGB point clouds(1803). The system extracts features from the RGB point clouds, the features including contextual and spatial information of the RGB point clouds(1804). The system registers the RGB point clouds based on the extracted features(1805) and generates a point cloud map basedon the registration of the RGB point clouds(1806).
(ZH) 在一个实施方式中,系统接收由ADV的一个或多个LIDAR传感器捕获的多个点云和相应的位姿(1801)。系统从ADV的一个或多个图像捕获传感器接收多个RGB图像(1802)。系统使RGB图像与点云同步以获得RGB点云(1803)。系统从RGB点云提取特征,所述特征包括RGB点云的情境信息和空间信息(1804)。系统基于所提取的特征来登记RGB点云(1805),并基于RGB点云的登记生成点云地图(1806)。