Systems and methods for the simultaneous localization and mapping of autonomous vehicle systems are provided. A method includes receiving a plurality of input image frames from the plurality of asynchronous image devices triggered at different times to capture the plurality of input image frames. The method includes identifying reference image frame(s) corresponding to a respective input image frame by matching the field of view of the respective input image frame to the fields of view of the reference image frame(s). The method includes determining association(s) between the respective input image frame and three-dimensional map point(s) based on a comparison of the respective input image frame to the one or more reference image frames. The method includes generating an estimated pose for the autonomous vehicle the one or more three-dimensional map points. The method includes updating a continuous-time motion model of the autonomous vehicle based on the estimated pose.


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    Titel :

    SYSTEMS AND METHODS FOR SIMULTANEOUS LOCALIZATION AND MAPPING USING ASYNCHRONOUS MULTI-VIEW CAMERAS


    Weitere Titelangaben:

    SYSTEMES ET METHODES DE LOCALISATION ET DE CARTOGRAPHIE EN SIMULTANE AU MOYEN DE CAMERAS A ANGLES MULTIPLES ASYNCHRONES


    Beteiligte:
    YANG ANQI JOYCE (Autor:in) / CUI CAN (Autor:in) / BARSAN IOAN ANDREI (Autor:in) / WANG SHENLONG (Autor:in) / URTASUN RAQUEL (Autor:in)

    Erscheinungsdatum :

    2022-04-30


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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    YANG ANQI JOYCE / CUI CAN / BÂRSAN IOAN ANDREI et al. | Europäisches Patentamt | 2022

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