公开(公告)号：US11740083B2

公开(公告)日：2023-08-29

申请号：US15971154

申请日：2018-05-04

申请人： Google LLC

发明人： Jacob Baskin ,  Adam Feldman ,  Neha Rathi

IPC分类号： G01C11/00 ,  G01C3/08 ,  G01C21/12 ,  G01C5/00 ,  H04N5/33 ,  G06T7/73 ,  G01C15/00 ,  G01C11/02 ,  G06V20/20 ,  G06V30/142

CPC分类号： G01C11/00 ,  G01C3/08 ,  G01C5/00 ,  G01C11/02 ,  G01C15/008 ,  G01C21/12 ,  G06T7/74 ,  G06V20/20 ,  G06V30/142 ,  H04N5/33 ,  G06T2207/10048

摘要： Visual-inertial odometry uses visual input from a camera and inertial motion measurements to track the motion of an object. This technique can be applied to surveying urban environments, such as a curb or streetscape, that are impractical to survey with a surveyor's wheel, GPS, or imagery from cars. Making visual-inertial odometry measurements of a curb with a handheld surveying device yields relative measurements from a starting point to an ending point on the curb. These relative measurements can be pinned to an absolute coordinate frame using measurements of gravity made while acquiring the visual-inertial odometry measurements and absolute measurements of the starting and ending points.