US 11,940,279 B2
Systems and methods for positioning
Xiaozhi Qu, Beijing (CN); and Tingbo Hou, Mountain View, CA (US)
Assigned to BEIJING VOYAGER TECHNOLOGY CO., LTD., Beijing (CN)
Filed by BEIJING VOYAGER TECHNOLOGY CO., LTD., Beijing (CN)
Filed on Feb. 20, 2022, as Appl. No. 17/651,803.
Application 17/651,803 is a continuation of application No. PCT/CN2019/105025, filed on Sep. 10, 2019.
Prior Publication US 2022/0170749 A1, Jun. 2, 2022
Int. Cl. G01C 21/30 (2006.01); G01C 21/00 (2006.01); G06T 7/73 (2017.01); B60W 60/00 (2020.01); G05D 1/00 (2006.01)
CPC G01C 21/30 (2013.01) [G01C 21/3807 (2020.08); G06T 7/74 (2017.01); B60W 60/001 (2020.02); B60W 2556/40 (2020.02); G05D 1/0274 (2013.01); G05D 2201/0212 (2013.01); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for positioning, comprising:
at least one non-transitory storage medium storing a set of instructions; and
at least one processor in communication with the at least one storage medium, when executing the stored set of instructions, the at least one processor causes the system to:
obtain estimated pose data of a subject;
generate a local map associated with the estimated pose data;
obtain, based on the estimated pose data, a reference map;
determine a cross power spectrum between the local map and the reference map in a frequency domain;
convert the cross power spectrum between the local map and the reference map in the frequency domain to a spatial domain;
determine, based on the cross power spectrum between the local map and the reference map in the spatial domain, an offset between the local map and the reference map; and
determine, based on the estimated pose data and the offset, target pose data of the subject to navigate the subject.