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US-12169410-B2 · Dec 17, 2024 · US
Visual Localization Within LIDAR Maps
US2016209846A1 · US · A1
| Field | Value |
|---|---|
| Publication number | US-2016209846-A1 |
| Application number | US-201615000169-A |
| Country | US |
| Kind code | A1 |
| Filing date | Jan 19, 2016 |
| Priority date | Jan 19, 2015 |
| Publication date | Jul 21, 2016 |
| Grant date | — |
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Abstract
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An apparatus and method for visual localization of a visual camera system outputting real-time visual camera data and a graphics processing unit receiving the real-time visual camera data. The graphics processing unit accesses a database of prior map information and generates a synthetic image that is then compared to the real-time visual camera data to determine corrected position data. The graphics processing unit determines a camera position based on the corrected position data. A corrective system for applying navigation of the vehicle based on the determined camera position can be used in some embodiments.
First claim
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What is claimed is: 1 . A method of visual localization using a visual camera system, the method comprising: outputting real-time visual camera data from a visual camera system; accessing a database of LIDAR-generated prior map information and generating a synthetic image; comparing the synthetic image to the real-time visual camera data to determine corrected position data to determine a camera position based on the corrected position data; and applying corrected navigation information of the camera based on the determined camera position. 2 . The method according to claim 1 wherein the visual camera system is a monocular camera system. 3 . The method according to claim 1 wherein the LIDAR-generated prior map information is three-dimensional map information. 4 . The method according to claim 1 wherein the LIDAR-generated prior map information comprises odometry and global positioning system prior constraints. 5 . The method according to claim 1 wherein the LIDAR-generated prior map information is constrained to produce a near-planar graph. 6 . The method according to claim 1 , further comprising: producing the LIDAR-generated prior map information by extracting a ground-plane at each pose and draping an orthographic texture over a varying z-height map. 7 . The method according to claim 1 wherein the step of comparing the synthetic image to the real-time visual camera data to determine corrected position data to determine a camera position based on the corrected position data comprises: determining a relative offset; and aligning the LIDAR-generated prior map to the visual camera data. 8 . The method according to claim 1 further comprising: receiving the real-time visual camera data via a graphics processing unit, said graphics processing unit performing the step of accessing a database of LIDAR-generated prior map information and generating a synthetic image.
Assignees
Inventors
Classifications
- G05D1/0246Primary
using a video camera in combination with image processing means · CPC title
Physics · mapped topic
Range image; Depth image; 3D point clouds · CPC title
Physics · mapped topic
Camera pose · CPC title
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- What does patent US2016209846A1 cover?
- An apparatus and method for visual localization of a visual camera system outputting real-time visual camera data and a graphics processing unit receiving the real-time visual camera data. The graphics processing unit accesses a database of prior map information and generates a synthetic image that is then compared to the real-time visual camera data to determine corrected position data. The gr…
- Who is the assignee on this patent?
- Univ Michigan
- What technology area does this patent fall under?
- Primary CPC classification G05D1/0246. Mapped technology areas include Physics.
- When was this patent published?
- Publication date Thu Jul 21 2016 00:00:00 GMT+0000 (Coordinated Universal Time) (A1). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).