Systems and methods for simultaneous localization and mapping using asynchronous multi-view cameras

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. Th...

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Bibliographische Detailangaben
Hauptverfasser:	Wang, Shenlong, Urtasun, Raquel, Bârsan, Ioan Andrei, Yang, Anqi Joyce, Cui, Can
Format:	Patent
Sprache:	eng
Schlagworte:	ANALOGOUS ARRANGEMENTS USING OTHER WAVES CONTROLLING DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES MEASURING PERFORMING OPERATIONS PHYSICS RADIO DIRECTION-FINDING RADIO NAVIGATION REGULATING SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES TESTING TRANSPORTING VEHICLES IN GENERAL VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISEPROVIDED FOR
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Beschreibung
Zusammenfassung:	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.