Patent SG-11201908974X-A (SG)
Title: Real time robust localization via visual inertial odometry
Inventor: LI ZHENGGUO
IPC: G01C21/16
Filed: 2018-03-29
Abstract: Refinethe angular velocity and linear velocity of the kth frame using the k-lth frame and kth frame The linear velocity of the kth frame PUBLISHED UNDER THE PATENT COOPERATION TREATY (PCT) I iiimmommiononolomoniolliolommovois (10) International Publication Number WO 2018/182524 Al WIPO I PCT (12) INTERNATIONAL APPLICATION (19) World Intellectual Property Organization International Bureau (43) International Publication Date 04 October 2018 (04.10.2018) (51) International Patent Classification: G06T 7/73 (2017.01) G06T 7/246 (2017.01) GO1C 21/16 (2006.01) (21) International Application Number: PCT/SG2018/050153 (22) International Filing Date: 29 March 2018 (29.03.2018) (25) Filing Language: English (26) Publication Language: English (30) Priority Data: 10201702561Y 29 March 2017 (29.03.2017) SG (71) Applicant: AGENCY FOR SCIENCE, TECHNOLO- GY AND RESEARCH [SG/SG]; 1 Fusionopolis Way, #20-10 Connexis North Tower, Singapore 138632 (SG). (72) Inventors: LI, Zhengguo; c/o PKM, Institute for Info- comm Research, 1 Fusionopolis Way, #21-01 Connexis South Tower, Singapore 138632 (SG). ZHENG, Jinghong; c/o PKM, Institute for Infocomm Research, 1 Fusionopo- lis Way, #21-01 Connexis South Tower, Singapore 138632 (SG). ZHU, Zijian Orson; c/o PKM, Institute for Info- comm Research, 1 Fusionopolis Way, #21-01 Connexis South Tower, Singapore 138632 (SG). REN, Qinyuan; c/ o PKM, Institute for Infocomm Research, 1 Fusionopolis Way, #21-01 Connexis South Tower, Singapore 138632 (SG). WAN, Kong Wah; c/o PKM, Institute for Info- comm Research, 1 Fusionopolis Way, #21-01 Connexis South Tower, Singapore 138632 (SG). YAU, Wei Yun; c/o PKM, Institute for Infocomm Research, 1 Fusionopo- lis Way, #21-01 Connexis South Tower, Singapore 138632 (SG). (54) Title: REAL TIME ROBUST LOCALIZATION VIA VISUAL INERTIAL ODOMETRY 100 102 The Dose Of the k Fuse information of the k-ith frame via an adaptive EKF The linear velocity, rotation matrix and height of the k-/)th frame 104 r' 120 The angular velocity and IMU Estimate the inear velocity of the kth frame Ducar acceleration o the kth frame The angular velocity and linear velocity (tithe ic01 frame 108 r T Estimate the initial I pose of the kth frame The angular velocity o the kth frame FIG. 1 122 / Height The lei ht of the L sensor kill frame The information of the kth frame 110 Reduce drift of the kth rame using the nearest key frame The rotation matrix and the translation vector of the kth frame 112 ,-, The linear velocity, rotation Fuse inform ion of the Mb matrix, translation vector and frame via an adaptive EKF height of the kth frame (57) : A camera-based localization system is provided. The camera-based localization system may assist an unmanned vehicle to continue its operation in a GPS-denied environment with minimal increase in vehicular cost and payload. In one aspect, a method, a computer-readable medium, and an apparatus for localization via visual inertial odometry are provided. The apparatus may construct an optical flow based on feature points across a first video frame and a second video frame captured by a camera of the apparatus. The 00 apparatus may refine the angular velocity and the linear velocity corresponding to the second video frame via solving a quadratic opti- mization problem constructed based on the optical flow, the initial values of the angular velocity and the linear velocity corresponding 00 to the second video frame. The apparatus may estimate the pose of the apparatus based on the refined angular velocity and the refined O linear velocity. O [Continued on next page] WO 2018/182524 Al MIDEDIMOMOIDEIREEM3111011110101iMOIS (74) Agent: VIERING, JENTSCHURA & PARTNER LLP; P.O. Box 1088, Rochor Post Office, Rochor Road, Singa- pore 911833 (SG). (81) Designated States (unless otherwise indicated, for every kind of national protection available): AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW. (84) Designated States (unless otherwise indicated, for every kind of regional protection available): ARIPO (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW), Eurasian (AM, AZ, BY, KG, KZ, RU, TJ, TM), European (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR), OAPI (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG). Published: — with international search report (Art. 21(3))