Patent ID: 11915440
Assignee: VELODYNE LIDAR USA, INC.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 9:
10. A vehicle-mounted system for generating structured map data, the vehicle-mounted system comprising:
at least one sensor disposed on a vehicle, the at least one sensor configured to generate time-stamped sensor data;
a plurality of cameras disposed on the vehicle with each camera configured to generate video data comprising a plurality of video streams; and
a sensor data processing system configured to perform operations including:
determining, based on the time-stamped sensor data, a plurality of spatial values each comprising a position of the vehicle and an associated time stamp, the plurality of spatial values including a particular spatial value indicating a particular position of the vehicle and a particular associated time stamp; and
adjusting the particular spatial value indicating the particular position of the vehicle based on two or more parallax differences in two or more respective relative positions of a fixed feature depicted in a plurality of image records captured in the video data,
wherein adjusting the particular spatial value comprises:
identifying the fixed feature in two or more first image records captured at a first time and in two or more second image records captured at a second time, each of the first image records being captured in a distinct one of the respective video streams, each of the second image records being captured in a distinct one of the respective video streams, the first time corresponding to an initial position of the vehicle, and the second time corresponding to the particular position of the vehicle;
calculating a first relative position of the fixed feature at the first time based on a first parallax view of the fixed feature recorded in the two or more first image records;
calculating a second relative position of the fixed feature at the second time based on a second parallax view of the fixed feature recorded in the two or more second image records; and a difference between the second relative position of the fixed feature at the second time and the first relative position of the fixed feature at the first time.