Correcting path errors for vehicle navigation

摘要

An apparatus and method are disclosed for performing loop closing on one or more paths to be optimized. The paths may include poses associated with imagery obtained by a vehicle. The apparatus may identify candidate intersections from the paths based on their proximity, and may further determine relative poses from the poses of the paths using structure-from-motion techniques. The apparatus may then apply a partitioning schema to the paths to be optimized to obtain individual partition cells. The partition cells may then be sent to one or more client devices for optimizing the paths included in the partition cells. When the apparatus receives a set of optimized paths from the client devices, the apparatus may re-partition the paths to be optimized to ensure that non-optimized portions of paths are optimized.

主权项

1. A system for performing loop closing, the system comprising:
a computer-readable memory that stores a plurality of paths to be improved, wherein each path of the plurality of paths comprises one or more poses having therewith associated an image and a geographic location of a mobile apparatus; and one or more processors in communication with the computer-readable memory, the one or more processors being configured to:
identify a plurality of candidate intersections between poses of different paths of the plurality of paths based on the geographic locations of the one or more poses of each of the plurality of paths;determine, for each particular candidate intersection of the plurality of candidate intersections, a relative pose based on the images associated with the poses of the different paths of the particular candidate intersection;partitioning the plurality of paths to obtain one or more partition cells, each partition cell including the poses of at least one particular candidate intersection of the plurality of candidate intersections and the determined relative pose for the at least one particular candidate intersection, wherein each one of the plurality of paths is assigned to at least one of the one or more partition cells;send the one or more partition cells to one or more client devices for improving the paths assigned to the one or more partition cells; andreceive, in response to sending the one or more partition cells, an improved path from the client device, the improved paths being based on at least one of the determined relative poses.