发明名称 |
Accurate alignment of multiple laser scans using a template surface |
摘要 |
A system and process for laser scan alignment for vehicle trajectories is provided. A representation of the map surface allows multiple scans to be simultaneously aligned to each other. Laser scans are fit to the template surface, and the template surface is re-estimated based on the fit of the scans. The result is a pose trajectory estimate that drifts less than standard approaches, and is more robust to outliers (such as moving objects) in the laser's field of view. |
申请公布号 |
US8209143(B1) |
申请公布日期 |
2012.06.26 |
申请号 |
US20100881929 |
申请日期 |
2010.09.14 |
申请人 |
ANGUELOV DRAGOMIR;HUANG QI-XING;GOOGLE INC. |
发明人 |
ANGUELOV DRAGOMIR;HUANG QI-XING |
分类号 |
G01C17/38;G01C9/00;G01C19/00 |
主分类号 |
G01C17/38 |
代理机构 |
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代理人 |
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主权项 |
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地址 |
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