US 11,815,601 B2
Methods and systems for geo-referencing mapping systems
Ji Zhang, Pittsburgh, PA (US); Calvin Wade Sheen, Chula Vista, CA (US); and Kevin Joseph Dowling, Gibsonia, PA (US)
Assigned to CARNEGIE MELLON UNIVERSITY, Pittsburgh, PA (US)
Filed by Kaarta, Inc., Pittsburgh, PA (US)
Filed on Apr. 7, 2020, as Appl. No. 16/842,130.
Application 16/842,130 is a continuation of application No. PCT/US2018/061186, filed on Nov. 15, 2018.
Claims priority of provisional application 62/587,983, filed on Nov. 17, 2017.
Prior Publication US 2020/0233085 A1, Jul. 23, 2020
Int. Cl. G01S 17/894 (2020.01); G01S 17/58 (2006.01); G01S 17/42 (2006.01); H04W 4/02 (2018.01)
CPC G01S 17/58 (2013.01) [G01S 17/42 (2013.01); G01S 17/894 (2020.01); H04W 4/023 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A method comprising:
generating a point cloud comprising both positional and pose data from a mapping system comprising a LIDAR and a retro-reflector along a first trajectory;
receiving, while generating the point cloud, data from a total station comprising a second trajectory, the received data comprising a position of the mapping system relative to a position of the total station;
adjusting the first trajectory based, at least in part, on the second trajectory; and
determining a relative timing correlation by correlating speeds of the first trajectory and the second trajectory, wherein correlating the speeds comprises maximizing a sum of one or more products by adjusting a time offset of one or more pairs of synchronized data points.