Improved method for simultaneous localization and mapping; Associated computer system and program.
The method integrates Doppler radar and inertial data to enhance SLAM for autonomous vehicles, providing accurate mapping and localization in diverse conditions, addressing the need for satellite-free navigation.
FR3162843A1Active Publication Date: 2025-12-05THALES SA
Patent Information
- Application Number
- FR2024005838
- Authority / Receiving Office
- FR · FR
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2024-06-04
- Publication Date
- 2025-12-05
- Estimated Expiration
- 2044-06-04
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Abstract
Improved method for simultaneous localization and mapping; associated computer system and program. This method, performed by a computer (40) mounted on board a vehicle (1), consists of: acquiring a set of points at the current time, provided by a Doppler radar system (30) of the vehicle; acquiring the attitude at the current time of the vehicle, provided by an inertial measurement unit (20) of the vehicle; orienting the set of points at the current time with respect to a ground reference frame (X0Y0Z0), taking into account the attitude at the current time; processing the radial velocities of the points to calculate an estimated velocity at the current time of the vehicle (1); calculating a position at the current time of the vehicle (1) from the estimated velocity at the current time; and executing a simultaneous localization and mapping algorithm from the position at the current time of the vehicle over a plurality of successive times. Figure for the abstract: Figure 1
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Citation Information
Patent Citations
Radar-based system and method for real-time simultaneous localization and mapping
US11036237B2