3D ODOMETRY IN 6D SPACE WITH ROADMODEL 2D MANIFOLD
3D ODOMETRY IN 6D SPACE WITH ROADMODEL 2D MANIFOLD
- Neue Suche nach: DOEMLING MAXIMILIAN
- Neue Suche nach: TIAN WENXIN
- Neue Suche nach: LI QIANSHAN
- Neue Suche nach: DOEMLING MAXIMILIAN
- Neue Suche nach: TIAN WENXIN
- Neue Suche nach: LI QIANSHAN
A method for determining a 6-dimensional (6D) delta pose of a vehicle includes obtaining a pre-defined roadmodel 2-dimensional (2D) manifold in 6D space, wherein the roadmodel 2D manifold in 6D space is pre-defined by transforming objects in a roadmodel from 3D (x, y, z) space into 6D (x, y, z, r, p, y) space, wherein x and y represent positions of objects on a horizontal plane, and z, r, p and y represent the height, roll angle, pitch angle and yaw angle of the objects in real world; obtaining a delta 3D odometry (Δx, Δy, θ) from an odometer of the vehicle, wherein Δx and Δy represent the movements in the lateral and forward-reverse directions, and θ represents a current heading of the vehicle; projecting the obtained delta 3D odometry onto the roadmodel 2D manifold; and determining the 6D delta pose of the vehicle corresponding to the delta 3D odometry.
Dokumentinformationen
3D ODOMETRY IN 6D SPACE WITH ROADMODEL 2D MANIFOLD
3D-ODOMETRIE IN 6D-RAUM MIT STRASSENMODELL-2D-KOPIE
ODOMÉTRIE 3D DANS UN ESPACE 6D COMPORTANT UN COLLECTEUR 2D DE MODÈLE DE ROUTE
2023-01-25
Patent
Elektronische Ressource
Englisch
| IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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