Title:
EGO-MOTION ESTIMATION METHOD AND RELATED APPARATUS
Document Type and Number:
WIPO Patent Application WO/2022/033139
Kind Code:
A1
Abstract:
An ego-motion estimation method and a related apparatus. The method comprises: acquiring a first rotational velocity vector ωs and a normalized or scaled first translational velocity vector (I) of the ego-motion of a sensor; and according to the first rotational velocity vector ωs, the first translational velocity vector (I) and extrinsic parameters of the sensor, determining a second rotational velocity vector ωe and a second translational velocity vector te of a carrier, wherein the carrier is a carrier where the sensor is located, and the extrinsic parameters of the sensor comprise a conversion relationship between a sensor coordinate system and a carrier coordinate system. By means of the method, the motion velocity of a carrier where a sensor is located or the sensor can be determined, and the ego-motion estimation accuracy for the carrier where the sensor is located or the sensor is improved, thereby improving the safety of assisted driving, autonomous driving or unmanned driving.
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Inventors:
WANG JIANGUO (CN)
WANG WEI (CN)
CHEN MO (CN)
WANG WEI (CN)
CHEN MO (CN)
Application Number:
PCT/CN2021/098209
Publication Date:
February 17, 2022
Filing Date:
June 03, 2021
Export Citation:
Assignee:
HUAWEI TECH CO LTD (CN)
International Classes:
G01C21/16
Foreign References:
| CN105606095A | 2016-05-25 | |||
| CN108549399A | 2018-09-18 | |||
| CN108318027A | 2018-07-24 | |||
| CN102435188A | 2012-05-02 | |||
| US20180364048A1 | 2018-12-20 |
Attorney, Agent or Firm:
SCIHEAD IP LAW FIRM (CN)
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