公开(公告)号：US12124269B2

公开(公告)日：2024-10-22

申请号：US17515923

申请日：2021-11-01

Applicant: Aurora Operations, Inc.

Inventor： Anqi Joyce Yang ,  Can Cui ,  Ioan Andrei Bârsan ,  Shenlong Wang ,  Raquel Urtasun

IPC: G05D1/00 ,  B60R1/27 ,  G01S17/894

CPC classification number: G05D1/0251 ,  B60R1/27 ,  G01S17/894 ,  G05D1/0212 ,  G05D1/0248 ,  B60R2300/303 ,  B60R2300/304

Abstract: Systems and methods for the simultaneous localization and mapping of autonomous vehicle systems are provided. A method includes receiving a plurality of input image frames from the plurality of asynchronous image devices triggered at different times to capture the plurality of input image frames. The method includes identifying reference image frame(s) corresponding to a respective input image frame by matching the field of view of the respective input image frame to the fields of view of the reference image frame(s). The method includes determining association(s) between the respective input image frame and three-dimensional map point(s) based on a comparison of the respective input image frame to the one or more reference image frames. The method includes generating an estimated pose for the autonomous vehicle the one or more three-dimensional map points. The method includes updating a continuous-time motion model of the autonomous vehicle based on the estimated pose.

公开(公告)号：US20250013235A1

公开(公告)日：2025-01-09

申请号：US18890881

申请日：2024-09-20

Applicant: Aurora Operations, Inc.

Inventor： Anqi Joyce Yang ,  Can Cui ,  Ioan Andrei Bârsan ,  Shenlong Wang ,  Raquel Urtasun

IPC: G05D1/00 ,  B60R1/27 ,  G01S17/894

Abstract: Systems and methods for the simultaneous localization and mapping of autonomous vehicle systems are provided. A method includes receiving a plurality of input image frames from the plurality of asynchronous image devices triggered at different times to capture the plurality of input image frames. The method includes identifying reference image frame(s) corresponding to a respective input image frame by matching the field of view of the respective input image frame to the fields of view of the reference image frame(s). The method includes determining association(s) between the respective input image frame and three-dimensional map point(s) based on a comparison of the respective input image frame to the one or more reference image frames. The method includes generating an estimated pose for the autonomous vehicle the one or more three-dimensional map points. The method includes updating a continuous-time motion model of the autonomous vehicle based on the estimated pose.