Title:
POSE ESTIMATION METHOD, LASER-RADAR-INERTIAL ODOMETER, MOVABLE PLATFORM AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2023/000294
Kind Code:
A1
Abstract:
A pose estimation method, a laser-radar-inertial odometer, a movable platform and a storage medium. The method comprises: acquiring a point cloud, which is collected by a laser radar; performing clustering on the point cloud to determine foreground points, which represent a dynamic object; and performing pose estimation by using non-foreground points, apart from the foreground points, in the point cloud. The present embodiment is conducive to eliminating the influence of a dynamic object.
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Inventors:
LI MENG (CN)
ZHU YANCHEN (CN)
LI YANZHAO (CN)
ZHU YANCHEN (CN)
LI YANZHAO (CN)
Application Number:
PCT/CN2021/108093
Publication Date:
January 26, 2023
Filing Date:
July 23, 2021
Export Citation:
Assignee:
SZ DJI TECHNOLOGY CO LTD (CN)
International Classes:
G01S17/89; G01C21/16; G01S7/48; G01S13/86; G01S17/86
Foreign References:
| CN111929699A | 2020-11-13 | |||
| CN110879400A | 2020-03-13 | |||
| CN112363158A | 2021-02-12 | |||
| CN111156984A | 2020-05-15 | |||
| CN112966542A | 2021-06-15 | |||
| CN111476812A | 2020-07-31 | |||
| CN112348897A | 2021-02-09 | |||
| CN111583369A | 2020-08-25 | |||
| CN111531546A | 2020-08-14 | |||
| CN113126115A | 2021-07-16 | |||
| CN107991680A | 2018-05-04 | |||
| CN111443359A | 2020-07-24 | |||
| EP3715785A1 | 2020-09-30 |
Other References:
PANG FAN: "Research on Odometry and Mapping Method of Lidar Inertial Coupled", CHINA MASTER'S' THESES FULL-TEXT DATABASE (ELECTRONIC JOURNAL)-INFORMATION & TECHNOLOGY), TIANJIN POLYTECHNIC UNIVERSITY, CN, no. 8, 15 August 2020 (2020-08-15), CN , XP093027174, ISSN: 1674-0246
PANG FAN, WEI SHUANGFENG;SHI XIANJIE;CHEN KAI: "Odometry and mapping method for coupling LiDAR and IMU", APPLICATION RESEARCH OF COMPUTERS, CHENGDU, CN, vol. 38, no. 7, 5 July 2021 (2021-07-05), CN , XP093027162, ISSN: 1001-3695, DOI: 10.19734/j.issn.1001-3695.2020.06.0259
SHANG TIANXIANG, WANG JINGCHUAN; DONG LINGFENG; CHEN WEIDONG: "3Dlidar SLAM technology in lunar environment", ACTA AERONAUTICA ET ASTRONAUTICA SINICA, vol. 42, no. 1, 25 January 2021 (2021-01-25), pages 296 - 304, XP093027160, ISSN: 1000-6893, DOI: 10.7527/S1000-6893.2020.24166
PANG FAN, WEI SHUANGFENG;SHI XIANJIE;CHEN KAI: "Odometry and mapping method for coupling LiDAR and IMU", APPLICATION RESEARCH OF COMPUTERS, CHENGDU, CN, vol. 38, no. 7, 5 July 2021 (2021-07-05), CN , XP093027162, ISSN: 1001-3695, DOI: 10.19734/j.issn.1001-3695.2020.06.0259
SHANG TIANXIANG, WANG JINGCHUAN; DONG LINGFENG; CHEN WEIDONG: "3Dlidar SLAM technology in lunar environment", ACTA AERONAUTICA ET ASTRONAUTICA SINICA, vol. 42, no. 1, 25 January 2021 (2021-01-25), pages 296 - 304, XP093027160, ISSN: 1000-6893, DOI: 10.7527/S1000-6893.2020.24166
Attorney, Agent or Firm:
BEIJING BESTIPR INTELLECTUAL PROPERTY LAW CORPORATION (CN)
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