公开(公告)号：US08825373B1

公开(公告)日：2014-09-02

申请号：US13705376

申请日：2012-12-05

Applicant: Google Inc.

Inventor： David R. Martin ,  Bryan M. Klingner

IPC: G01C21/34

CPC classification number: G01C21/32 ,  G01C21/005

Abstract: 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.

Abstract translation: 公开了一种用于在要优化的一个或多个路径上进行闭环的装置和方法。 路径可以包括与由车辆获得的图像相关联的姿势。 该装置可以基于它们的接近度从路径识别候选交叉点，并且还可以使用运动结构技术从路径的姿势确定相对姿势。 然后，设备可以将分区模式应用于要优化的路径以获得单个分区单元。 然后可以将分区单元发送到一个或多个客户端设备，以优化包含在分区单元中的路径。 当设备从客户端设备接收到一组优化的路径时，设备可以重新划分要优化的路径，以确保路径的非优化部分被优化。