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1. EP3707467 - A RGB POINT CLOUDS BASED MAP GENERATION SYSTEM FOR AUTONOMOUS VEHICLES

Office
European Patent Office
Application Number 19794404
Application Date 30.01.2019
Publication Number 3707467
Publication Date 16.09.2020
Publication Kind A4
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
G01S 17/42
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
02Systems using the reflection of electromagnetic waves other than radio waves
06Systems determining position data of a target
42Simultaneous measurement of distance and other coordinates
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 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 BAIDUCOM TIMES TECH (BEIJING) CO LTD
BAIDU USA LLC
Inventors XIAO YONG
HE RUNXIN
YUAN PENGFEI
YU LI
SONG SHIYU
Designated States
Title
(DE) AUF RGB-PUNKTWOLKEN BASIERENDES KARTENERZEUGUNGSSYSTEM FÜR AUTONOME FAHRZEUGE
(EN) A RGB POINT CLOUDS BASED MAP GENERATION SYSTEM FOR AUTONOMOUS VEHICLES
(FR) SYSTÈME DE GÉNÉRATION DE CARTE BASÉ SUR DES NUAGES DE POINTS RVB POUR VÉHICULES AUTONOMES
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 more image 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 based on the registration of the RGB point clouds(1806).
(FR) Selon un mode de réalisation, un système reçoit un certain nombre de nuages de points capturés par un ou plusieurs capteurs LIDAR d'un ADV et des poses (1801) correspondantes. Le système reçoit un certain nombre d'images RVB provenant d'un ou plusieurs capteurs de capture d'image de l'ADV (1802). Le système synchronise les images RVB avec les nuages de points pour obtenir des nuages de points RVB (1803). Le système extrait des caractéristiques des nuages de points RVB, les caractéristiques comprenant des informations contextuelles et spatiales des nuages de points RVB (1804). Le système enregistre les nuages de points RVB sur la base des caractéristiques extraites (1805) et génère une carte de nuages de points sur la base de l'enregistrement des nuages de points RVB (1806).