LIDAR Odometry for Localization

Abstract: a localization system can obtain a lidar observation oriented relative to a vehicle frame, the vehicle frame oriented with respect to a pose of a vehicle; access a local environment map descriptive of the environment of the vehicle, wherein the local environment map is oriented relative to a keyframe at a given time, the local environment map including a plurality of surfels and generated in real-time during a current operational instance of the vehicle based on one or more prior lidar observations captured during the current operational instance of the vehicle; determine a transform between the vehicle frame and the keyframe by aligning the lidar observation to the local environment map based on a similarity between the lidar observation and the local environment map; and determine an updated pose of the vehicle based on the transform and the pose of the vehicle in the vehicle frame at the given.

Inventor(s): James Scott Jackson, Mikhail Smirnov

CPC Classification: G01S17/931 (RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES)

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