3D POINT CLOUD MAP ALIGNMENT WITH OPEN STREET MAP FOR OUTDOOR 6D LOCALIZATION ON MOBILE PLATFORMS

摘要

A method of mapping and localization, comprising, reconstructing a point cloud and a camera pose based on VSLAM, synchronizing the camera pose and a GPS timestamp at a first set of GPS coordinate points, transforming the first set of GPS coordinate points corresponding to the GPS timestamp into a first set of ECEF coordinate points, determining a translation and a rotation between the camera pose and the first set of ECEF coordinate points, transforming the point cloud and the camera pose into a second set of ECEF coordinates based on the translation and the rotation, transforming the point cloud and the camera pose into a second set of GPS coordinate points constructing and storing a key-frame image, a key-frame timestamp and a key-frame GPS based on the second set of GPS coordinate points.