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Localisation and mapping method and system

A mapping method and positioning algorithm technology, applied in the field of positioning and mapping system, positioning and mapping technology, can solve the problems of inefficient, displaced objects, unable to truly form a fixed environment and other problems

Active Publication Date: 2017-08-01
VALEO SCHALTER & SENSOREN
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] However, problems arise with objects that are fixed during the passage of a moving machine, but may be displaced at a later time, and thus do not truly form part of the fixed environment to be mapped
[0009] In particular, during subsequent passes through the region where the object is located, the localization and mapping algorithms will not recognize the previously mapped environment and will restart the map construction process, which is clearly inefficient

Method used

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  • Localisation and mapping method and system
  • Localisation and mapping method and system
  • Localisation and mapping method and system

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specific Embodiment approach

[0037] figure 1 A motor vehicle V equipped with a positioning and mapping system S is shown.

[0038] In this case, the positioning and mapping system S is constructed in the form of a microprocessor-based processing device.

[0039] The processing device includes a memory suitable for storing computer program instructions (for example, read-only memory or rewritable non-volatile memory, or any random access memory), and the computer program instructions executed by the microprocessor of the processing device cause the following to be executed Describe the methods and processes.

[0040] The motor vehicle V includes one or more onboard sensors, for example a vision sensor such as a video camera CAM, and / or a distance sensor such as a laser remote sensor or a lidar (lidar, abbreviation for "light detection and ranging") sensor.

[0041] Positioning and mapping system S receives data generated by airborne sensors INFO CAM , INFO LID , And process them to construct a map C of the envir...

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Abstract

The invention relates to a localisation and mapping method used by a mobile vehicle in an environment, said method comprising the following steps: the determination of the type of an object located in an area of the environment, on the basis of the data received from an on-board sensor in the mobile vehicle; and implementation of a localisation algorithm using detection data, without taking into account the detection data relating to said area or said object when the determined type is a type of mobile object.

Description

Technical field [0001] The present invention relates to positioning and mapping techniques used by mobile machines in an environment containing moving objects. [0002] More specifically, it relates to a positioning and mapping system and a positioning and mapping method for loading onto this mobile machine. [0003] The present invention is particularly advantageously applicable to the situation where some existing objects in the environment are fixed during the passage of the mobile machine equipped with the above-mentioned positioning and mapping system, but are then movable. Background technique [0004] There are known localization and mapping methods used by mobile machines (for example, robots or motor vehicles) in an environment, which are used to obtain information based only on information obtained by one or more sensors on the mobile machine. The purpose of building a map of the environment. [0005] This type of method is usually referred to by the English acronym SLAM ("...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G01S17/86
CPCG05D1/0248G05D1/0274G01C21/3837G01S7/4808G01S17/86
Inventor P.雷森迪
Owner VALEO SCHALTER & SENSOREN