Vehicle-mounted look-around online SLAM system and method based on multi-camera model

The invention discloses a vehicle-mounted surround-view online SLAM system and method based on a multi-camera model. The system comprises a multi-camera module which employs a plurality of cameras, is disposed in different directions of a vehicle, and is used for collecting the image information of...

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Hauptverfasser:	HUANG YI, YANG JIANDANG, LIU QINGYAO, XU JINHONG
Format:	Patent
Sprache:	chi ; eng
Schlagworte:	CALCULATING COMPUTING COUNTING GYROSCOPIC INSTRUMENTS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING
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creator	HUANG YI YANG JIANDANG LIU QINGYAO XU JINHONG
description	The invention discloses a vehicle-mounted surround-view online SLAM system and method based on a multi-camera model. The system comprises a multi-camera module which employs a plurality of cameras, is disposed in different directions of a vehicle, and is used for collecting the image information of the surrounding environment of the vehicle; a data input module which establishes a multi-camera model according to input image information and motion parameters of a vehicle, and performs vehicle motion estimation and positioning by using a multi-camera SLAM algorithm; a multi-camera angular point tracking module which performs angular point tracking on the image information, performs initial attitude estimation and repositioning of the vehicle, tracks a local map of the vehicle, and analyzes and judges whether a new key frame is inserted or not; and a fast pose calculation module; wherein the fast pose calculation module fusing the IMU and the wheel speed meter performs joint optimization on the motion parameters
format	Patent
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The system comprises a multi-camera module which employs a plurality of cameras, is disposed in different directions of a vehicle, and is used for collecting the image information of the surrounding environment of the vehicle; a data input module which establishes a multi-camera model according to input image information and motion parameters of a vehicle, and performs vehicle motion estimation and positioning by using a multi-camera SLAM algorithm; a multi-camera angular point tracking module which performs angular point tracking on the image information, performs initial attitude estimation and repositioning of the vehicle, tracks a local map of the vehicle, and analyzes and judges whether a new key frame is inserted or not; and a fast pose calculation module; wherein the fast pose calculation module fusing the IMU and the wheel speed meter performs joint optimization on the motion parameters</description><language>chi ; eng</language><subject>CALCULATING ; COMPUTING ; COUNTING ; GYROSCOPIC INSTRUMENTS ; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ; MEASURING ; MEASURING DISTANCES, LEVELS OR BEARINGS ; NAVIGATION ; PHOTOGRAMMETRY OR VIDEOGRAMMETRY ; PHYSICS ; SURVEYING ; TESTING</subject><creationdate>2022</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20220121&DB=EPODOC&CC=CN&NR=113959435A$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,309,781,886,25565,76548</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20220121&DB=EPODOC&CC=CN&NR=113959435A$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>HUANG YI</creatorcontrib><creatorcontrib>YANG JIANDANG</creatorcontrib><creatorcontrib>LIU QINGYAO</creatorcontrib><creatorcontrib>XU JINHONG</creatorcontrib><title>Vehicle-mounted look-around online SLAM system and method based on multi-camera model</title><description>The invention discloses a vehicle-mounted surround-view online SLAM system and method based on a multi-camera model. The system comprises a multi-camera module which employs a plurality of cameras, is disposed in different directions of a vehicle, and is used for collecting the image information of the surrounding environment of the vehicle; a data input module which establishes a multi-camera model according to input image information and motion parameters of a vehicle, and performs vehicle motion estimation and positioning by using a multi-camera SLAM algorithm; a multi-camera angular point tracking module which performs angular point tracking on the image information, performs initial attitude estimation and repositioning of the vehicle, tracks a local map of the vehicle, and analyzes and judges whether a new key frame is inserted or not; and a fast pose calculation module; wherein the fast pose calculation module fusing the IMU and the wheel speed meter performs joint optimization on the motion parameters</description><subject>CALCULATING</subject><subject>COMPUTING</subject><subject>COUNTING</subject><subject>GYROSCOPIC INSTRUMENTS</subject><subject>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</subject><subject>MEASURING</subject><subject>MEASURING DISTANCES, LEVELS OR BEARINGS</subject><subject>NAVIGATION</subject><subject>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</subject><subject>PHYSICS</subject><subject>SURVEYING</subject><subject>TESTING</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2022</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNir0OgjAURrs4GPUdrg_QgSADIyEaB3XxZyXX9iMQ215Cy-Dbi4kP4HRyTs5S3R_oeuOgvUwhwZITeWkeZ7MkwfUBdD1VZ4rvmOCJ5-yROrH05IjvQ35yqdeGPUYmLxZurRYtu4jNjyu1Pexv9VFjkAZxYIOA1NSXLMvLotzlRZX_83wAkfc4mQ</recordid><startdate>20220121</startdate><enddate>20220121</enddate><creator>HUANG YI</creator><creator>YANG JIANDANG</creator><creator>LIU QINGYAO</creator><creator>XU JINHONG</creator><scope>EVB</scope></search><sort><creationdate>20220121</creationdate><title>Vehicle-mounted look-around online SLAM system and method based on multi-camera model</title><author>HUANG YI ; YANG JIANDANG ; LIU QINGYAO ; XU JINHONG</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_CN113959435A3</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>chi ; eng</language><creationdate>2022</creationdate><topic>CALCULATING</topic><topic>COMPUTING</topic><topic>COUNTING</topic><topic>GYROSCOPIC INSTRUMENTS</topic><topic>IMAGE DATA PROCESSING OR GENERATION, IN GENERAL</topic><topic>MEASURING</topic><topic>MEASURING DISTANCES, LEVELS OR BEARINGS</topic><topic>NAVIGATION</topic><topic>PHOTOGRAMMETRY OR VIDEOGRAMMETRY</topic><topic>PHYSICS</topic><topic>SURVEYING</topic><topic>TESTING</topic><toplevel>online_resources</toplevel><creatorcontrib>HUANG YI</creatorcontrib><creatorcontrib>YANG JIANDANG</creatorcontrib><creatorcontrib>LIU QINGYAO</creatorcontrib><creatorcontrib>XU JINHONG</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>HUANG YI</au><au>YANG JIANDANG</au><au>LIU QINGYAO</au><au>XU JINHONG</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Vehicle-mounted look-around online SLAM system and method based on multi-camera model</title><date>2022-01-21</date><risdate>2022</risdate><abstract>The invention discloses a vehicle-mounted surround-view online SLAM system and method based on a multi-camera model. 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subjects	CALCULATING COMPUTING COUNTING GYROSCOPIC INSTRUMENTS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURVEYING TESTING
title	Vehicle-mounted look-around online SLAM system and method based on multi-camera model
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