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1. (WO2018140701) LASER SCANNER WITH REAL-TIME, ONLINE EGO-MOTION ESTIMATION

Pub. No.:    WO/2018/140701    International Application No.:    PCT/US2018/015403
Publication Date: Fri Aug 03 01:59:59 CEST 2018 International Filing Date: Sat Jan 27 00:59:59 CET 2018
IPC: G01C 11/02
G01C 21/32
G01S 17/88
G01S 17/89
Applicants: KAARTA, INC.
Inventors: ZHANG, Ji
DOWLING, Kevin, Joseph
SINGH, Sanjiv
Title: LASER SCANNER WITH REAL-TIME, ONLINE EGO-MOTION ESTIMATION
Abstract:
A method includes receiving data from an IMU device at a first computational module at a first frequency and computing, based at least in part on the received IMU data, a first estimated position of a mobile mapping system, receiving the first estimated position and visual-inertial data at a second computational module at a second frequency and computing, based at least in part on the first estimated position and visual-inertial data, a second estimated position of the mobile mapping system and receiving the second estimated position and laser scan data at a third computational module at a third frequency and computing, based at least in part on the second estimated position and laser scan data, a third estimated position of the mobile mapping system.