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1. WO2018130885 - THREE-DIMENSIONAL MAPPING OF AN ENVIRONMENT

Publication Number WO/2018/130885
Publication Date 19.07.2018
International Application No. PCT/IB2017/052242
International Filing Date 19.04.2017
IPC
G01S 17/89 2006.01
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
G01C 21/20 2006.01
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
20Instruments for performing navigational calculations
CPC
G06T 2207/10016
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10016Video; Image sequence
G06T 2207/10028
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
10Image acquisition modality
10028Range image; Depth image; 3D point clouds
G06T 2207/30204
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
30Subject of image; Context of image processing
30204Marker
G06T 2207/30248
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
2207Indexing scheme for image analysis or image enhancement
30Subject of image; Context of image processing
30248Vehicle exterior or interior
G06T 7/521
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
521from laser ranging, e.g. using interferometry; from the projection of structured light
G06T 7/55
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
55from multiple images
Applicants
  • OTSAW DIGITAL PTE. LTD. [SG]/[SG]
Inventors
  • NARANG, Gautam
  • MING, Ling Ting
Priority Data
10201700299Q13.01.2017SG
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) THREE-DIMENSIONAL MAPPING OF AN ENVIRONMENT
(FR) CARTOGRAPHIE TRIDIMENSIONNELLE D'UN ENVIRONNEMENT
Abstract
(EN)
A system for registering a three dimensional map of an environment includes a data collection device, such as a robotic device, one or more sensors installable on the device, such as a camera, a LiDAR sensor, an inertial measurement unit (IMU), and a global positioning system receiver. The system may be configured to use the sensor data to perform visual odometry, and/or LiDAR odometry. The system may use IMU measurements to determine an initial estimate, and use a modified generalized iterative closest point algorithm by examining only a portion of scan lines for each frame or combining multiple feature points across multiple frames. While performing the visual and LiDAR odometries, the system may simultaneously perform map registration through a global registration framework and optimize the registration over multiple frames.
(FR)
L'invention concerne un système d'enregistrement d'une carte tridimensionnelle d'un environnement comprenant un dispositif de collecte de données, tel qu'un dispositif robotique, un ou plusieurs capteur(s) pouvant être installé(s) sur le dispositif, tels qu'une caméra, un capteur LiDAR, une unité de mesure inertielle (IMU), et un récepteur de système mondial de localisation. Le système peut être conçu pour utiliser les données de capteur afin d'effectuer une odométrie visuelle et/ou une odométrie LiDAR. Le système peut utiliser des mesures d'IMU afin de déterminer une estimation initiale et utiliser un algorithme de point le plus proche itératif généralisé modifié par l'examen uniquement d'une partie de lignes de balayage pour chaque trame ou la combinaison de points multiples de caractéristique à travers des trames multiples. Pendant la réalisation des odométries visuelles et LiDAR, le système peut effectuer simultanément un enregistrement de carte par l'intermédiaire d'un cadre d'enregistrement mondial et optimiser l'enregistrement sur des trames multiples.
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