US 12,462,403 B2
Method for estimating an ego motion of a vehicle on the basis of measurements of a lidar sensor and computing device
Yuran Liang, Munich (DE); and Daniel Schwendner, Pfaffenhofen a.d.Ilm (DE)
Assigned to Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
Appl. No. 18/017,308
Filed by Bayerische Motoren Werke Aktiengesellschaft, Munich (DE)
PCT Filed Jul. 19, 2021, PCT No. PCT/EP2021/070094
§ 371(c)(1), (2) Date Jan. 20, 2023,
PCT Pub. No. WO2022/018007, PCT Pub. Date Jan. 27, 2022.
Claims priority of application No. 10 2020 119 498.6 (DE), filed on Jul. 23, 2020.
Prior Publication US 2023/0342954 A1, Oct. 26, 2023
Int. Cl. G06T 7/246 (2017.01)
CPC G06T 7/251 (2017.01) [G06T 2207/10028 (2013.01); G06T 2207/30248 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method for estimating an ego motion of a vehicle, comprising:
determining a first point cloud having a plurality of first points on the basis of sensor data, which are provided using a lidar sensor of the vehicle at a first point in time;
determining a second point cloud having a plurality of second points on the basis of sensor data, which are provided using the lidar sensor at a second point in time following the first point in time;
assigning the first points to clusters and the second points to clusters;
selecting first points from the first point cloud and selecting second points from the second point cloud;
determining a displacement between respective corresponding selected first points and selected second points; and
estimating the ego motion of the vehicle on the basis of the displacement,
wherein:
the selection of the first points and the selection of the second points is carried out in dependence on a shape of the respective clusters; and
the selection of the first points and the selection of the second points are additionally carried out in dependence on a location of the respective clusters.