US 12,436,281 B2
Lidar localization using optical flow
Anders Sunegård, Gothenburg (SE)
Assigned to Volvo Truck Corporation, Gothenburg (SE)
Filed by Volvo Truck Corporation, Gothenburg (SE)
Filed on Oct. 28, 2021, as Appl. No. 17/513,433.
Claims priority of application No. 20208113 (EP), filed on Nov. 17, 2020.
Prior Publication US 2022/0155441 A1, May 19, 2022
Int. Cl. G01S 17/06 (2006.01); G01S 7/48 (2006.01); G01S 17/89 (2020.01)
CPC G01S 17/06 (2013.01) [G01S 7/4808 (2013.01); G01S 17/89 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A method for determining a lidar sensor pose with respect to a predefined map image, comprising:
acquiring, by a computing device, a lidar height map;
determining, by a regression model implemented by the computing device, an optical flow field, which relates the lidar height map and the map image, wherein the optical flow field associates image points in the map image or points in the lidar height map with local translation vectors;
further determining, by the regression model, a variability tensor associated with the optical flow field; and
computing, by the computing device, a maximum-likelihood (ML) estimate of the lidar sensor pose on the basis of the determined optical flow field and the variability tensor.