A method for determining a 6-dimensional (6D) delta pose of a vehicle includes obtaining a pre-defined roadmodel 2-dimensional (2D) manifold in 6D space, wherein the roadmodel 2D manifold in 6D space is pre-defined by transforming objects in a roadmodel from 3D (x, y, z) space into 6D (x, y, z, r, p, y) space, wherein x and y represent positions of objects on a horizontal plane, and z, r, p and y represent the height, roll angle, pitch angle and yaw angle of the objects in real world; obtaining a delta 3D odometry (Δx, Δy, θ) from an odometer of the vehicle, wherein Δx and Δy represent the movements in the lateral and forward-reverse directions, and θ represents a current heading of the vehicle; projecting the obtained delta 3D odometry onto the roadmodel 2D manifold; and determining the 6D delta pose of the vehicle corresponding to the delta 3D odometry.


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    Title :

    3D Odometry in 6D Space With Roadmodel 2D Manifold


    Contributors:

    Publication date :

    2022-08-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / 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



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