FIELD: radar and radio navigation.
SUBSTANCE: invention relates to a method for determining the trajectory of an object in the surrounding space for constructing 3D map. To determine the trajectory of an object, data from an inertial measurement unit (IMU) is read simultaneously by means of a computer, data on position of object from GNSS receiver and synchronized frames from stereo camera consisting of left and right cameras, processing the obtained data in a certain way by means of a computer to calculate the odometry readings and obtain 3D model of the surrounding space, for which readings of inertial measurement unit (IMU), GNSS receiver, stereo camera are simultaneously taken into account.
EFFECT: high accuracy of tracking an object in the surrounding space for constructing 3D map.
5 cl, 2 dwg
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