| 摘要 |
Measurements of a trajectory of a vehicle are corrected when it is detected that the vehicle has travelled along a loop, returning to an earlier position. A first estimate of the trajectory of a vehicle is obtained from measurements that provide temporally localized indications of position changes of the vehicle. During travel along the trajectory images are captured from the vehicle. A search is made for images with matching content to detect closure of the loop. A corrected estimate of the trajectory is determined that accounts for the completion of the loop. The distribution density of the correction is at least partly controlled by a measure of curvature, so that the corrections are concentrated at high curvature. Thus, correction artifacts in straight trajectory parts, such as during travel along a street, are avoided. The measure of curvature of the trajectory may be provided using image based measurements or from additional heading measurements. |
