Wipro Limited
METHOD AND SYSTEM FOR LOCALIZING AUTONOMOUS GROUND VEHICLES

Abstract:

The disclosure relates to method and system for localizing an autonomous ground vehicle (AGV). In an example, the method includes receiving a line drawing corresponding to a two-dimensional (2D) camera scene captured by a camera mounted on the AGV, determining a plurality of ground-touching corner edges based on a plurality of horizontal edges and a plurality of vertical edges in the line drawing, determining a plurality of three-dimensional (3D) points corresponding to a plurality of 2D points in each of the plurality of ground-touching corner edges based on a mapping relationship between an angular orientation of a ground touching edge of an object in real-world and in camera scene and a set of intrinsic parameters of the camera, generating 2D occupancy data by plotting the plurality of 3D points in a 2D plane, and determining a location of the AGV based on the 2D occupancy data and the mapping relationship.