US 12,228,409 B2
Feature matching and correspondence refinement and 3D submap position refinement system and method for centimeter precision localization using camera-based submap and LiDAR-based global map
Yi Luo, San Diego, CA (US); Yi Wang, San Diego, CA (US); and Ke Xu, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TUSIMPLE, INC., San Diego, CA (US)
Filed on Dec. 14, 2023, as Appl. No. 18/539,544.
Application 18/539,544 is a continuation of application No. 17/477,406, filed on Sep. 16, 2021, granted, now 11,846,510.
Application 17/477,406 is a continuation of application No. 16/792,129, filed on Feb. 14, 2020, granted, now 11,151,393, issued on Oct. 19, 2021.
Application 16/792,129 is a continuation of application No. 15/684,389, filed on Aug. 23, 2017, granted, now 10,565,457, issued on Feb. 18, 2020.
Prior Publication US 2024/0110791 A1, Apr. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06V 20/56 (2022.01); G01C 21/16 (2006.01); G01S 17/86 (2020.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); G06F 18/24 (2023.01); G06F 18/2415 (2023.01); G06V 10/75 (2022.01); G06V 10/764 (2022.01); G06T 17/05 (2011.01)
CPC G01C 21/1656 (2020.08) [G01C 21/1652 (2020.08); G01S 17/86 (2020.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); G06F 18/24 (2023.01); G06F 18/2415 (2023.01); G06V 10/757 (2022.01); G06V 10/764 (2022.01); G06V 20/56 (2022.01); G06T 17/05 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of localization comprising
processing of images from a camera and processing a data from a light detection and ranging (LiDAR), the processing comprising:
constructing a 3D submap using images from the camera and vehicle pose information;
constructing a 3D global map generated from the data from the LiDAR and vehicle pose information;
computing the location of the 3D submap in the global map, wherein the location of the 3D submap includes center position of the 3D submap; and
aligning the 3D submap with the global map.