US 12,422,555 B2
Method and apparatus for positioning movable device, and movable device
Yong Xu, Beijing (CN); and Nan Wu, Beijing (CN)
Assigned to Beijing Tusen Weilal Technology Co., Ltd., Beijing (CN)
Filed by Beijing Tusen Weilai Technology Co., Ltd., Beijing (CN)
Filed on Jul. 27, 2021, as Appl. No. 17/386,335.
Claims priority of application No. 202010744252.0 (CN), filed on Jul. 29, 2020.
Prior Publication US 2022/0035036 A1, Feb. 3, 2022
Int. Cl. G01S 17/89 (2020.01); G01C 21/20 (2006.01); G01S 17/06 (2006.01); G01S 17/42 (2006.01); G01S 17/86 (2020.01); G06F 18/2134 (2023.01); G06F 18/22 (2023.01); G06V 20/56 (2022.01)
CPC G01S 17/89 (2013.01) [G01C 21/20 (2013.01); G01S 17/42 (2013.01); G01S 17/86 (2020.01); G06F 18/21345 (2023.01); G06F 18/22 (2023.01); G06V 20/588 (2022.01); G01S 17/06 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for positioning a movable device moving in a tunnel with a bilaterally symmetrical cross section, the method comprising:
obtaining point cloud data for a predetermined area at a top of the tunnel above the movable device;
extracting, from the point cloud data, a first type of point cloud on a left side of the movable device and a second type of point cloud on a right side of the movable device, respectively, in accordance with a predetermined rule;
matching the first type of point cloud on the left side of the movable device and the second type of point cloud on the right side of the movable device to obtain a transform matrix; and
determining pose information of the movable device based on the transform matrix.