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1. (WO2018120932) METHOD AND APPARATUS FOR OPTIMIZING SCAN DATA AND METHOD AND APPARATUS FOR CORRECTING TRAJECTORY

Pub. No.:    WO/2018/120932    International Application No.:    PCT/CN2017/102498
Publication Date: Fri Jul 06 01:59:59 CEST 2018 International Filing Date: Thu Sep 21 01:59:59 CEST 2017
IPC: G06K 9/66
Applicants: BAYERISCHE MOTOREN WERKE AKTIENGESELLSCHAFT
DOEMLING, Maximilian
JIANG, Wanli
LI, Qianshan
LI, Jianpeng
GRANZOW, Sebastian
XU, Tao
XU, Hongshan
LV, Shuhan
Inventors: DOEMLING, Maximilian
JIANG, Wanli
LI, Qianshan
LI, Jianpeng
GRANZOW, Sebastian
XU, Tao
XU, Hongshan
LV, Shuhan
Title: METHOD AND APPARATUS FOR OPTIMIZING SCAN DATA AND METHOD AND APPARATUS FOR CORRECTING TRAJECTORY
Abstract:
A novel method and an apparatus for optimizing scan data obtained by sensors on vehicle.An improved method and an apparatus for correcting trajectory for vehicle/robot based on the said method and apparatus for optimizing scan data.The method for optimizing scan data obtained by scanning environment elements, includes: step of obtaining the scan data (210), obtaining at least two frames of scan data respectively corresponding to different timings; step of cluster processing (220), based on the characteristic of the data points, classifying the plurality of data points in each frame of the scan data into one or more clusters; step of establishing correspondence (230), among the at least two frames of scan data, searching and obtaining at least one set of clusters having correspondence; step of optimizing clusters (240), among the at least two frames of scan data, conducting calculation to each set of the at least one set of clusters having correspondence, to obtain optimized clusters respectively corresponding to each set of the at least one set of clusters having correspondence; and step of optimizing the scan data (250),accumulating all optimized clusters to obtain an optimized scan date for the at least two frames of scan data.