3D Panorama Location Correction Using Neighbor Graph Constraints
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Solution Overview
Problem
Current methods for creating accurate three-dimensional panoramic maps are laborious and prone to noise, making it difficult to correctly locate and register planes in the mapping process, especially due to the inclusion of extraneous planes and noise in the data.
Innovation Solution
A two-phase approach is implemented to correct the locations of planes in three-dimensional panoramic maps, first addressing the horizontal (XY) coordinates and then the elevations (Z coordinates), using filtering and quadratic solvers to minimize error terms and construct neighbor graphs to refine the positions of planes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional mapping methods are used to gather spatial data, then comprehensive coverage can be achieved, but the data contains noise and extraneous planes that reduce accuracy
Solution Approach 1:
The patent extracts and removes extraneous planes from the panorama data set before processing. By identifying and discarding planes that do not belong to the actual environment (such as planes from moving objects or measurement errors), the system eliminates noise that would otherwise degrade location accuracy in the three-dimensional map
Solution Approach 2:
The patent converts the harmful effect of noisy data into a benefit by using the presence of extraneous planes as identification markers. By detecting anomalies in plane data (such as planes with inconsistent orientations or positions), the system can identify and correct measurement errors, ultimately improving the reliability of the mapping process
2Reliability
If all planes in the data set are processed together, then complete coverage is maintained, but the complexity of processing increases significantly
Solution Approach 1:
The patent segments the processing into two distinct phases: XY correction (horizontal positioning) and Z correction (elevation). By dividing the complex three-dimensional correction problem into separate two-dimensional and one-dimensional sub-problems, the system reduces processing complexity while maintaining overall map coherence through systematic refinement of different spatial dimensions
3Measurement precision
If GPS and inertial navigation systems are used for positioning, then absolute position can be obtained, but errors accumulate over time and distance
Solution Approach 1:
The patent implements a feedback mechanism by using the three-dimensional map structure itself to correct positioning errors. By comparing the expected positions of planes based on map coherence with actual GPS/inertial measurements, the system generates correction factors that are fed back to adjust the positioning data, thereby compensating for accumulated errors over time and distance
Solution Approach 2:
The patent combines multiple positioning data sources (GPS absolute position, inertial navigation relative position, and map-based constraints) into a composite positioning solution. By fusing these different measurement types with complementary strengths, the system achieves more accurate and stable positioning that overcomes the limitations of any single method
Data Source
AI summary
Correction of the locations of panoramas and associated physical locations in a region are disclosed. The task of correcting the locations of the panoramas is divided into XY location correction followed by Z location correction. The panorama set is filtered to remove extraneous planes. In XY-plane correction, neighboring panoramas are identified using a neighbor graph, and the locations of sets of neighboring planes are constrained to be within a specified distance of one another, and a system of linear equations is constructed to represent the locations of the panoramas. A weighted absolute sum of the constraints is minimized across the entire system using a convex quadratic program solver to derive new locations for the planes. The location of ground planes is similarly corrected using a minimization of errors technique.