US 12,222,422 B2
Post-processing of mapping data for improved accuracy and noise-reduction
Zhenyu Yang, Palo Alto, CA (US); Zhenghe Shangguan, Palo Alto, CA (US); Arjun Sukumar Menon, San Jose, CA (US); and Weifeng Liu, Fremont, CA (US)
Assigned to DJI RESEARCH LLC, Cerritos, CA (US)
Appl. No. 17/997,997
Filed by DJI Research LLC, Palo Alto, CA (US)
PCT Filed Jun. 22, 2021, PCT No. PCT/US2021/038461
§ 371(c)(1), (2) Date Nov. 4, 2022,
PCT Pub. No. WO2021/262704, PCT Pub. Date Dec. 30, 2021.
Claims priority of provisional application 63/044,965, filed on Jun. 26, 2020.
Prior Publication US 2023/0177707 A1, Jun. 8, 2023
Int. Cl. G01S 17/89 (2020.01); G01S 7/48 (2006.01); G01S 17/42 (2006.01); G01S 17/86 (2020.01); G01S 17/88 (2006.01); G06T 7/33 (2017.01); G06T 11/00 (2006.01)
CPC G01S 17/89 (2013.01) [G01S 7/4808 (2013.01); G01S 17/42 (2013.01); G01S 17/86 (2020.01); G01S 17/88 (2013.01); G06T 7/337 (2017.01); G06T 11/001 (2013.01); G06T 2207/10028 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
obtaining a plurality of scans, each scan comprising georeferenced mapping data and corresponding payload pose data obtained from a payload supported by a movable object;
generating a plurality of local maps based on matching portions of the plurality of scans using the georeferenced mapping data;
generating a pose graph from the plurality of local maps, including identifying a plurality of pairs of correspondence points each including two correspondence points from two of the plurality of local maps, respectively, and representing a same point in space; and
optimizing the pose graph by minimizing a distance between the two correspondence points in each of the plurality of pairs of correspondence points to obtain optimized transforms each for two of the plurality of the scans.