公开(公告)号：US20240418514A1

公开(公告)日：2024-12-19

申请号：US18749093

申请日：2024-06-20

Applicant: Aurora OPerations, Inc.

Inventor： Rachel Ahn ,  David Prasser ,  Peter Hansen ,  Robert Zlot

IPC: G01C21/32 ,  G01C21/30 ,  G01S19/45

Abstract: Various examples are directed to systems and methods for locating a vehicle. A pose state estimator may access a previous position for the vehicle at a first time, wherein the previous position is on a first sub-map of a plurality of sub-maps. The pose state estimator may receive from a first localizer a first position estimate for the vehicle at a second time after the first time. The first position estimate may be on a second sub-map of the plurality of sub-maps. The pose state estimator may send to a second localizer a sub-map change message indicating the second sub-map.

公开(公告)号：US12298404B2

公开(公告)日：2025-05-13

申请号：US18520416

申请日：2023-11-27

Applicant: Aurora Operations, Inc.

Inventor： Peter Hansen ,  Hatem Alismail

IPC: G01S17/89 ,  G01S7/48 ,  G01S17/08 ,  G01S17/88 ,  G01S17/894 ,  G01S17/931 ,  G05D1/00 ,  G06T7/73

Abstract: A system for determining a pose of a vehicle and building maps from vehicle priors processes received ground intensity LIDAR data including intensity data for points believed to be on the ground and height information to form ground intensity LIDAR (GIL) images including pixels in 2D coordinates where each pixel contains an intensity value, a height value, and x- and y-gradients of intensity and height. The GIL images are formed by filtering aggregated ground intensity LIDAR data falling into a same spatial bin on the ground and using a registration algorithm to align two GIL images relative to one another by estimating a 6-degree-of-freedom pose with associated uncertainty that minimizes error between the two GIL images. The aligned GIL images are provided as a pose estimate to a localizer. The system may provide online localization and pose estimation, prior building, and prior to prior alignment pose estimation using image-based techniques.

公开(公告)号：US12044535B2

公开(公告)日：2024-07-23

申请号：US18309256

申请日：2023-04-28

Applicant: Aurora Operations, Inc.

Inventor： Rachel Ahn ,  David Prasser ,  Peter Hansen ,  Robert Zlot

IPC: G01C21/32 ,  G01C21/30 ,  G01S19/45

CPC classification number: G01C21/32 ,  G01C21/30 ,  G01S19/45

Abstract: Various examples are directed to systems and methods for locating a vehicle. A pose state estimator may access a previous position for the vehicle at a first time, wherein the previous position is on a first sub-map of a plurality of sub-maps. The pose state estimator may receive from a first localizer a first position estimate for the vehicle at a second time after the first time. The first position estimate may be on a second sub-map of the plurality of sub-maps. The pose state estimator may send to a second localizer a sub-map change message indicating the second sub-map.