(19)
(11) EP 4 016 230 B8

(12) CORRECTED EUROPEAN PATENT SPECIFICATION
Note: Bibliography reflects the latest situation

(15) Correction information:
Corrected version no 1 (W1 B1)

(48) Corrigendum issued on:
02.10.2024 Bulletin 2024/40

(45) Mention of the grant of the patent:
21.08.2024 Bulletin 2024/34

(21) Application number: 21207642.6

(22) Date of filing: 14.03.2018
(51) International Patent Classification (IPC): 
G05D 1/00(2024.01)
G01C 21/00(2006.01)
G01C 21/20(2006.01)
G06V 20/10(2022.01)
G06V 30/196(2022.01)
 B66F 9/00(2006.01)
B66F 9/075(2006.01)
G06V 20/56(2022.01)
B66F 9/06(2006.01)
(52) Cooperative Patent Classification (CPC):
G05D 1/0274; G05D 1/0234; G05D 1/0268; B66F 9/0755; G01C 21/20; B66F 9/063; G01C 21/206; G06V 20/10; G06V 20/56; G06V 30/1988

(54)

METHOD AND CONTROL SYSTEM FOR SIMULTANEOUS LOCALIZATION AND CALIBRATION

VERFAHREN UND STEUERUNGSSYSTEM ZUR GLEICHZEITIGEN LOKALISIERUNG UND KALIBRATION

PROCÉDÉ ET SYSTÈME INFORMATISÉ DE LOCALISATION ET D'ÉTALONNAGE SIMULTANÉS

(84) Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

(30) Priority: 21.04.2017 US 201762488639 P
09.10.2017 US 201715727726

(43) Date of publication of application:
22.06.2022 Bulletin 2022/25

(62) Application number of the earlier application in accordance with Art. 76 EPC:
18715854.8 / 3590016

(73) Proprietor: Google LLC
Mountain View, CA 94043 (US)

(72) Inventors:
  • HOLZ, Dirk
    Mountain View 94043 (US)
  • STRASZHEIM, Troy
    Mountain View 94043 (US)

(74) Representative: Chettle, John Edward et al
Venner Shipley LLP 200 Aldersgate
London EC1A 4HD
London EC1A 4HD (GB)


(56) References cited: : 
   
  • RAINER KÜMMERLE ET AL: "Simultaneous Parameter Calibration, Localization, and Mapping", ADVANCED ROBOTICS, vol. 26, no. 17, 13 September 2012 (2012-09-13), NL, pages 2021 - 2041, XP055475511, ISSN: 0169-1864, DOI: 10.1080/01691864.2012.728694
  • KELLY J ET AL: "Visual-inertial simultaneous localization, mapping and sensor-to-sensor self-calibration", COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION (CIRA), 2009 IEEE INTERNATIONAL SYMPOSIUM ON, IEEE, PISCATAWAY, NJ, USA, 15 December 2009 (2009-12-15), pages 360 - 368, XP031643806, ISBN: 978-1-4244-4808-1
  • CENSI A ET AL: "Simultaneous maximum-likelihood calibration of odometry and sensor parameters", 2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION. THE HALF-DAY WORKSHOP ON: TOWARDS AUTONOMOUS AGRICULTURE OF TOMORROW; PASADENA, CA, USA, MAY 19-23, 2008, IEEE, PISCATAWAY, NJ, USA, 19 May 2008 (2008-05-19), pages 2098 - 2103, XP031340460, ISBN: 978-1-4244-1646-2
   
Note: Within nine months from the publication of the mention of the grant of the European patent, any person may give notice to the European Patent Office of opposition to the European patent granted. Notice of opposition shall be filed in a written reasoned statement. It shall not be deemed to have been filed until the opposition fee has been paid. (Art. 99(1) European Patent Convention).