Laser scanner with real-time online ego-motion estimation
A technology of laser scanning and laser ranging, which is used in instruments, road network navigators, and re-radiation of electromagnetic waves, which can solve problems such as receiving undistorted signals.
Active Publication Date: 2022-06-17
CARNEGIE MELLON UNIV
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Problems solved by technology
In some environments, it may be difficult to receive an undistorted signal from four satellites, such as in urban environments that may include overpasses and other obstructions
[0009] It can thus be appreciated that there are several technical challenges associated with incorporating data from optical devices with other motion measuring devices in order to generate a robust map of the terrain around the autonomous mapping device, especially when the mapping device is in motion
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[0046] In one general aspect, the present invention is directed to mobile computer-based mapping systems that estimate changes in position over time (rangefinders), and / or generate three-dimensional map representations of three-dimensional space (eg, point clouds). The mapping system may include, but is not limited to, a number of sensors (including inertial measurement units (IMUs)), cameras, and / or 3D laser scanners. It may also include a computer system having at least one processor in communication with the plurality of sensors, the at least one processor being configured to process outputs from the sensors in order to estimate changes in the position of the system over time and / or to generate the surrounding environment map representation. Mapping systems may enable high-frequency, low-latency, online, real-time self-motion estimation, along with dense, accurate 3D map registration. Embodiments of the present disclosure may include simultaneous localization and mapping (...
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A mapping system comprising: an inertial measurement unit; a camera unit; a laser scanning unit; and a computing system in communication with the inertial measurement unit, the camera unit, and the laser scanning unit, wherein the computing system uses inertial measurement data from the inertial measurement unit to calculating a first measurement prediction at one frequency, calculating a second measurement prediction at a second frequency based on the first measurement prediction and visual measurement data from the camera unit, and calculating a second measurement prediction based on the second measurement prediction and laser ranging data from the laser scanning unit A third frequency is used to calculate a third measurement prediction.
Description
[0001] claim of priority [0002] This application claims US Provisional Patent Application Serial No. 62 / 307061, filed on March 11, 2016, entitled "LASER SCANNER WITH REAL-TIME, ONLINEEGO-MOTION ESTIMATION" Interest, the disclosure of which is hereby incorporated by reference in its entirety and for all purposes. Background technique [0003] An autonomous mobile device may request information about the terrain in which it operates. Such a device may rely on a predefined map presenting the terrain and any obstacles that may be found therein. Alternatively, a device may have the capability to map its terrain while at rest or in motion, the device including a computer-based mapping system having one or more sensors to provide real-time data. A mobile computer-based mapping system may estimate changes in its position over time (a rangefinder), and / or generate a three-dimensional map representation of a three-dimensional space (eg, a point cloud). [0004] Exemplary mapping sy...
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IPC IPC(8): G01C11/02G01S17/86G01S17/89G01S17/931
CPCG01S17/89G01S7/4808G01C21/165G01S17/931G01S17/86G01C21/1652G01C21/3848G01C21/1656
Inventor 张楫S.辛赫
Owner CARNEGIE MELLON UNIV