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Positioning and mapping methods and systems

A positioning algorithm and mapping technology, applied in the field of positioning and mapping, can solve problems such as the inability to truly form a fixed environment, inefficiency, and the occurrence of displaced objects.

Active Publication Date: 2021-04-16
VALEO SCHALTER & SENSOREN GMBH
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  • Summary
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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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  • Positioning and mapping methods and systems
  • Positioning and mapping methods and systems
  • Positioning and mapping methods and systems

Examples

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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 designed in the form of a microprocessor-based processing device.

[0039] The processing device includes a memory (such as a read-only memory or a rewritable non-volatile memory, or any random-access memory) suitable for storing computer program instructions, the computer program instructions being executed by the microprocessor of the processing device causing the following Describe the methods and procedures.

[0040] The motor vehicle V includes one or more onboard sensors, for example vision sensors such as video cameras CAM, and / or distance sensors such as laser long-range sensors or lidar (short for “light detection and ranging”) sensors.

[0041] Positioning and mapping system S receives data generated by onboard sensors INFO CAM 、INFO LID , and they are processed for constructing a map C of the environment in w...

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Abstract

The present invention relates to a method of localization and mapping for use by a mobile machine in an environment, said method comprising the steps of: determining the type of object located in an area of ​​said environment based on data received from on-board sensors on said mobile machine ; if the determined type is a moving object type, implementing a localization algorithm using the detection data, regardless of detection data related to said area or said object.

Description

technical field [0001] The present invention relates to localization and mapping techniques used by mobile machines in environments containing moving objects. [0002] More specifically, it relates to a positioning and mapping system and a positioning and mapping method for loading to such a mobile machine. [0003] The invention is particularly advantageously applicable in situations where certain objects present in the environment are fixed during the passage of a mobile machine equipped with the positioning and mapping system described above, but are then movable. Background technique [0004] There are known localization and mapping methods used by mobile machines (such as robots or motor vehicles) in an environment for localization based solely 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 ("Simultaneous Localization...

Claims

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Application Information

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