An ADMM algorithm-based update point cloud registration pipeline for autonomous vehicles
The invention provides an ADMM algorithm-based updated point cloud registration pipeline for an autonomous vehicle. In one embodiment, a system and method for point cloud registration of a LIDAR poseof an autonomous driving vehicle (ADV) is disclosed. According to the method, the pose of the point c...
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Main Authors | , , , , |
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Format | Patent |
Language | Chinese English |
Published |
23.03.2021
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Subjects | |
Online Access | Get full text |
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Summary: | The invention provides an ADMM algorithm-based updated point cloud registration pipeline for an autonomous vehicle. In one embodiment, a system and method for point cloud registration of a LIDAR poseof an autonomous driving vehicle (ADV) is disclosed. According to the method, the pose of the point cloud with relatively high confidence in a data capture stage is selected as a fixed anchor pose. The fixed anchor points are used to estimate and optimize the pose of the non-anchor points during point cloud registration. The method may divide the point cloud into blocks to perform an ICP algorithmin parallel for each block by minimizing a cost function of a bundle adjustment equation updated with regularization terms. The regularization term may measure a difference between a current estimateand a previous or initial estimate of the pose. The method may also minimize a bundle adjustment equation updated with regularization terms when solving the pose map problem to merge optimized posesfrom the blocks to establish |
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Bibliography: | Application Number: CN202011287813 |