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公开(公告)号：US12046003B2
公开(公告)日：2024-07-23
申请号：US17524845
申请日：2021-11-12
发明人： Deok Hwa Kim , Dong Hwan Lee , Woo Young Kim , Tae Jae Lee
IPC分类号： G06T7/73 , G06F18/213 , G06F18/25 , G06T7/11 , G06T7/55 , G06T17/05 , G06V10/75 , G06V20/13 , G06V20/56
CPC分类号： G06T7/74 , G06F18/213 , G06F18/253 , G06T7/11 , G06T7/55 , G06T17/05 , G06V10/751 , G06V20/13 , G06V20/56 , G06T2200/08 , G06T2207/20021 , G06T2207/20132 , G06T2207/20221 , G06T2207/30244 , G06T2207/30252
摘要： A visual localization method includes generating a first feature point map by using first map data calculated on the basis of a first viewpoint; generating a second feature point map by using second map data calculated on the basis of a second viewpoint different from the first viewpoint; constructing map data for localization having the first and second feature point maps integrated with each other, by compensating for a position difference between a point of the first feature point map and a point of the second feature point map; and performing visual localization by using the map data for localization.
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公开(公告)号：US11941755B2
公开(公告)日：2024-03-26
申请号：US17517720
申请日：2021-11-03
发明人： Deok Hwa Kim , Dong Hwan Lee , Woo Young Kim
CPC分类号： G06T17/05 , G06T7/70 , G06T2200/04 , G06T2200/08
摘要： A method of generating a map for visual localization includes specifying a virtual camera pose by using 3-dimensional (3D) model data which is based on an image of an outdoor space captured from the air; rendering the image of the outdoor space from a perspective of the virtual camera, by using the virtual camera pose and the 3D model data; and generating a feature point map by using the rendered image and the virtual camera pose.
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公开(公告)号：US11747477B2
公开(公告)日：2023-09-05
申请号：US16582591
申请日：2019-09-25
发明人： Su Yong Yeon , Soo Hyun Ryu , Dong Hwan Lee , Jeong Hee Kim , Kay Park , Sang Ok Seok
CPC分类号： G01S17/89 , G01S5/02522 , G01S5/02525 , G01S7/4808 , G01S17/87 , H04W4/021 , H04W4/029 , H04W4/33 , H04W4/38
摘要： The data collecting method includes: collecting first and second sensor data respectively through a first and a second sensors while a data collecting apparatus moves within a target area, and tagging a first and a second timestamp values respectively to the first and the second sensor data; generating map data of the target area and location data at a point of time corresponding to the first timestamp value, based on the first sensor data; generating map information of the target area based on the map data, and generating moving path information on the map based on the location data; and estimating a sensing location at a point of time corresponding to the second timestamp value based on the moving path information, and tagging the sensing location to the second sensor data.
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公开(公告)号：US12025708B2
公开(公告)日：2024-07-02
申请号：US17684763
申请日：2022-03-02
发明人： Yong Han Lee , Su Yong Yeon , Soo Hyun Ryu , Deok Hwa Kim , Dong Hwan Lee
CPC分类号： G01S17/894 , G01S17/87 , G06T7/20 , G06T7/50 , G06T7/74 , G06T17/05 , G06T2207/10028 , G06T2207/30241
摘要： The present invention relates to a method and system of generating a three-dimensional (3D) map. The 3D map generating method of the present invention includes: collecting spatial data and image data on a specific space by using a lidar sensor and a camera sensor that are each provided on a collecting device; estimating a movement trajectory of the lidar sensor by using the spatial data; and generating 3D structure data on the specific space based on structure-from-motion (SFM), by using the image data and the movement trajectory as input data.
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