Title:
METHOD AND APPARATUS FOR REPRESENTING MAP ELEMENT AND METHOD AND APPARATUS FOR LOCATING VEHICLE/ROBOT
Document Type and Number:
WIPO Patent Application WO/2016/201670
Kind Code:
A1
Abstract:
A method and an apparatus for representing a map element and a method and an apparatus for locating a vehicle/robot based thereupon. The method for representing a map element comprise: generating a Gaussian Mixture Model for the map element (110); generating a signature for identifying the map element, wherein the signature comprises properties of the map element (120); and generating Gaussian Mixture Model comprises the Gaussian Mixture Model, the signature and an existence probability of the map element (130). A novel technology for representing map elements and an improved vehicle/robot localization technology are provided based thereupon.
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Inventors:
ISERT CARSTEN (CN)
JIANG WANLI (CN)
LI QIANSHAN (CN)
JIANG WANLI (CN)
LI QIANSHAN (CN)
Application Number:
PCT/CN2015/081784
Publication Date:
December 22, 2016
Filing Date:
June 18, 2015
Export Citation:
Assignee:
BAYERISCHE MOTOREN WERKE AG (DE)
ISERT CARSTEN (CN)
ISERT CARSTEN (CN)
International Classes:
G01C21/30
Foreign References:
| CN1569558A | 2005-01-26 | |||
| CN101509781A | 2009-08-19 | |||
| CN101920498A | 2010-12-22 | |||
| US6999620B1 | 2006-02-14 | |||
| US8537338B1 | 2013-09-17 |
Other References:
LIU, DONGBO ET AL.: "A Robot Self-Localization Method Based on Image Retrieval System", CHINESE JOURNAL OF SENSORS AND ACTUATORS, vol. 23, no. 4, 30 April 2010 (2010-04-30), pages 548 - 550, XP009504645
SHAH S ET AL.: "Multiple feature integration for robust object localization", COMPUTER VISION AND PATTERN RECOGNITION, 23 June 1998 (1998-06-23), pages 765 - 771, XP010291704, DOI: 10.1109/CVPR.1998.698690
RYAN W. WOLCOTT ET AL.: "Fast LIDAR localization using multiresolution Gaussian mixture maps", 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA, 1 May 2015 (2015-05-01), pages 2814 - 2821, XP055552231, DOI: 10.1109/ICRA.2015.7139582
See also references of EP 3311110A4
SHAH S ET AL.: "Multiple feature integration for robust object localization", COMPUTER VISION AND PATTERN RECOGNITION, 23 June 1998 (1998-06-23), pages 765 - 771, XP010291704, DOI: 10.1109/CVPR.1998.698690
RYAN W. WOLCOTT ET AL.: "Fast LIDAR localization using multiresolution Gaussian mixture maps", 2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA, 1 May 2015 (2015-05-01), pages 2814 - 2821, XP055552231, DOI: 10.1109/ICRA.2015.7139582
See also references of EP 3311110A4
Attorney, Agent or Firm:
CCPIT PATENT AND TRADEMARK LAW OFFICE (Vantone New World Plaza2 Fuchengmenwai Street, Xicheng District, Beijing 7, CN)
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