公开(公告)号：US20180336697A1

公开(公告)日：2018-11-22

申请号：US15601638

申请日：2017-05-22

Applicant: HONDA MOTOR CO., LTD.

Inventor： Yan LU ,  Jiawei Huang ,  Yi-Ting Chen ,  Bernd Heisele

IPC: G06T7/73 ,  G01S17/89

CPC classification number: G06T7/73 ,  G01S17/023 ,  G01S17/89 ,  G06T7/13 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: The present disclosure relates to methods and systems for monocular localization in urban environments. The method may generate an image from a camera at a pose. The method may receive a pre-generated map, and determine features from the generated image based on edge detection. The method may predict a pose of the camera based on at least the pre-generated map, and determine features from the predicted camera pose. Further, the method may determine a Chamfer distance based upon the determined features from the image and the predicted camera pose, optimize the determined Chamfer distance based upon odometry information and epipolar geometry. Upon optimization, the method may determine an estimated camera pose.