Title:
EGO-MOTION ESTIMATION METHOD AND APPARATUS
Document Type and Number:
WIPO Patent Application WO/2021/196983
Kind Code:
A1
Abstract:
Disclosed are an ego-motion estimation method and apparatus (40, 603). The ego-motion estimation method comprises: acquiring a first rotational velocity vector estimated value ω1 of a first sensor (2011, 601) (101); acquiring a motion velocity vector estimated value v of a second sensor (2012, 602), and a data set of static targets relative to a reference system, wherein the data set comprises position data of the static targets (102); and according to the motion velocity vector estimated value v, the position data of the static targets, and the first rotational velocity vector estimated value ω1, determining a translational velocity vector estimated value T and a rotational velocity vector estimated value ω of an ego-motion of a first apparatus (103). According to the ego-motion estimation method, by means of the first rotational velocity vector estimated value ω1 of the first sensor (2011, 601), the motion velocity vector estimated value v of the second sensor (2012, 602), and the data set of the static targets relative to the reference system, a translational velocity vector of the ego-motion can be accurately determined, and the estimation accuracy of a rotational velocity vector can be effectively improved. The ego-motion estimation method can be applied to aided driving and autonomous driving systems, and robots, unmanned aerial vehicles, carrier-borne systems, satellite-borne systems, etc., which have the sensors configured thereon.
Inventors:
WANG JIANGUO (CN)
Application Number:
PCT/CN2021/079509
Publication Date:
October 07, 2021
Filing Date:
March 08, 2021
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G01S11/02; G01C11/00; G01S11/12; G01S13/66; G01S17/66
Foreign References:
| CN101320089A | 2008-12-10 | |||
| CN109668553A | 2019-04-23 | |||
| CN106053879A | 2016-10-26 | |||
| CN108573500A | 2018-09-25 | |||
| CN110095116A | 2019-08-06 | |||
| US20030089542A1 | 2003-05-15 | |||
| US20190180451A1 | 2019-06-13 |
Attorney, Agent or Firm:
SHENPAT INTELLECTUAL PROPERTY AGENCY (CN)
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