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1. WO2020140164 - SYSTEMS AND METHODS FOR UPDATING A HIGH-DEFINITION MAP

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Publication Number WO/2020/140164
Publication Date 09.07.2020
International Application No. PCT/CN2018/118059
International Filing Date 03.01.2019
IPC
G01C 21/32 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
26specially adapted for navigation in a road network
28with correlation of data from several navigational instruments
30Map- or contour-matching
32Structuring or formatting of map data
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
CPC
G01C 21/367
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
26specially adapted for navigation in a road network
34Route searching; Route guidance
36Input/output arrangements for on-board computers
3667Display of a road map
367Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
G01C 21/3848
GPHYSICS
01MEASURING; TESTING
CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
21Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
38Electronic maps specially adapted for navigation; Updating thereof
3804Creation or updating of map data
3833characterised by the source of data
3848Data obtained from both position sensors and additional sensors
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 7/003
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
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
003Transmission of data between radar, sonar or lidar systems and remote stations
G06T 19/20
GPHYSICS
06COMPUTING; CALCULATING; COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
19Manipulating 3D models or images for computer graphics
20Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
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
Applicants
  • BEIJING DIDI INFINITY TECHNOLOGY AND DEVELOPMENT CO., LTD. [CN]/[CN]
Inventors
  • MA, Teng
  • ZHU, Xiaoling
Agents
  • METIS IP (CHENGDU) LLC
Priority Data
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) SYSTEMS AND METHODS FOR UPDATING A HIGH-DEFINITION MAP
(FR) SYSTÈMES ET PROCÉDÉS DE MISE À JOUR D'UNE CARTE EN HAUTE DÉFINITION
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Abstract
(EN)
A method and a system for updating a HD map using a plurality of point cloud data frames are provided. The method may include: receiving, by a communication interface, a first data frame of a target region acquired by at least one sensor (S504); constructing, by at least one processor, a local HD map based on the first data frame (S506; receiving, by the communication interface, a second data frame of the target region acquired by the at least one sensor (S508); updating, by the at least one processor, the local HD map using the second data frame based on relative location and pose information associated with the second data frame relative to the local HD map (S510), and updating, by the at least one processor the HD map based on the updated local HD map (S516).
(FR)
L'invention concerne un procédé et un système de mise à jour d'une carte HD à l'aide d'une pluralité de trames de données en nuage de points. Le procédé peut comprendre : recevoir, par une interface de communication, une première trame de données d'une région cible acquise par au moins un capteur (S504) ; construire, par au moins un processeur, une carte HD locale sur la base de la première trame de données (S506) ; recevoir, par l'interface de communication, une seconde trame de données de la région cible acquise par le ou les capteurs (S508) ; mettre à jour, par le ou les processeurs, la carte HD locale à l'aide de la seconde trame de données sur la base d'informations d'emplacement et de pose relatives associées à la seconde trame de données par rapport à la carte HD locale (S510), et mettre à jour, par le ou les processeurs, la carte HD sur la base de la carte HD locale mise à jour (S516).
Also published as
CN112005079
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