US 11,875,615 B2
Odometry noise model fitting from fleet-scale datasets
Paul Ozog, Ann Arbor, MI (US); and Xipeng Wang, Ann Arbor, MI (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Aichi-Ken (JP)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Apr. 29, 2022, as Appl. No. 17/733,937.
Prior Publication US 2023/0351818 A1, Nov. 2, 2023
Int. Cl. G07C 5/06 (2006.01)
CPC G07C 5/06 (2013.01) 17 Claims
OG exemplary drawing
 
1. A method for fitting an odometry noise model of a vehicle, comprising:
collecting multiple passes of sensor measurements from motion sensors of the vehicle to measure a motion sensor noise during a testing operation of the vehicle;
determining an estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle;
determining the odometry noise model of the vehicle according to the estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle;
compensating, using the odometry noise model, the motion sensor noise during normal operation of the vehicle; and
generating a high-definition (HD) electronic map based on a vehicle odometry signal of a fleet of vehicles compensated based on a respective one of the odometry noise model.
 
8. A non-transitory computer-readable medium having program code recorded thereon for fitting an odometry noise model of a vehicle, the program code being executed by a processor and comprising:
program code to collect multiple passes of sensor measurements from motion sensors of the vehicle to measure a motion sensor noise during a testing operation of the vehicle;
program code to determine an estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle;
program code to determine the odometry noise model of the vehicle according to the estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle;
program code to compensate, using the odometry noise model, the motion sensor noise during normal operation of the vehicle; and
program code to generate a high-definition (HD) electronic map based on a vehicle odometry signal of a fleet of vehicles compensated based on a respective one of the odometry noise model.
 
15. A system for fitting an odometry noise model of a vehicle, the system comprising:
a sensor noise measurement module to collect multiple passes of sensor measurements from motion sensors of the vehicle to measure a motion sensor noise during a testing operation of the vehicle;
a standard deviation module to determine an estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle;
a learned odometry noise model to determine the odometry noise model of the vehicle according to the estimated standard deviation of the motion sensor noise measured during the testing operation of the vehicle; and
an odometry noise compensation module to compensate, using the odometry noise model, the motion sensor noise during normal operation of the vehicle, and to generate a high-definition (HD) electronic map based on a vehicle odometry signal of a fleet of vehicles compensated based on a respective one of the odometry noise model.