公开(公告)号：US11300664B1

公开(公告)日：2022-04-12

申请号：US17450693

申请日：2021-10-13

Applicant: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES ,  Beijing EnGo Technology Co., Ltd.

Inventor： Zhiqiang Cao ,  Zhonghui Li ,  Jinli Kang ,  Min Tan ,  Shuang Liang ,  Chengpeng Wang

IPC: G01S7/48 ,  G01S17/42 ,  G06T7/73 ,  G01S17/89

Abstract: A LiDAR odometry method based on the directed geometric point and sparse frame includes: obtaining original three-dimensional point cloud data of a surrounding environment in the coordinate system of the current frame of the LiDAR sensor; constructing and converting the first directed geometric point set and first environmental directed geometric point set into the second directed geometric point set and second environmental directed geometric point set in the world coordinate system, respectively; calculating candidate associated points in the second environmental directed geometric point set in association with each point in the second directed geometric point set, and determining the best associated point of each point in the second directed geometric point set; constructing and solving a pose optimization function to obtain an optimized pose from the coordinate system of the current frame of the LiDAR sensor to the world coordinate system; and updating directed geometric point sets of sparse frames.