3D Space Representation Alignment for Multi-Device SLAM

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Solution Overview

Problem

Existing methods for simultaneous localization and mapping (SLAM) perform poorly when different capturing devices are used for mapping and localization due to discrepancies in hardware characteristics, leading to reduced accuracy in determining the pose of a device within a 3D space.

Innovation Solution

A method that aligns representations of a 3D space by determining the difference between geometric restrictions of two capturing devices, identifying the most and least restrictive sets, and triggering a restrictive determination based on the least restrictive set using the most restrictive set's geometric restrictions, which involves filtering and incremental segmentation to match the representations.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If different capturing devices are used for mapping and localization, then device versatility is improved, but localization accuracy deteriorates

Engineering Contradiction:

Improvedevice versatilityVSAvoidlocalization accuracy

Core Design Contradiction:

Adaptability or versatilityVSMeasurement precision

Solution Approach 1:

The patent transforms the 3D data structure by applying geometric restrictions as filtering parameters. It identifies the most restrictive geometric constraints from the second capturing device and applies them to filter and transform the less restrictive first data structure, thereby changing the parameters of the mapped representation to match the localizing device's characteristics.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The patent introduces an alignment device as an intermediary between the mapping device and the localizing device. This alignment device receives data from both sources, performs geometric restriction analysis and transformation, and produces an aligned representation that bridges the hardware characteristics of the two different capturing devices.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If geometric restrictions are applied to align representations, then localization accuracy is improved, but processing complexity increases

Engineering Contradiction:

Improvelocalization accuracyVSAvoidprocessing complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent segments the alignment process into distinct operational stages: obtaining the first data structure from the mapping device, obtaining geometric restrictions from the localizing device, comparing restriction levels, and applying selective filtering. This segmentation allows the system to manage complexity by handling each transformation step independently rather than as a monolithic complex process.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent applies geometric restrictions selectively rather than uniformly to all data. It identifies which specific geometric restrictions are most restrictive and applies only those necessary transformations to the 3D data structure, avoiding unnecessary processing while still achieving sufficient alignment for accurate localization.

Inventive Principle:

Principle #16Partial or excessive action

3Adaptability or versatility

If the first data structure is transformed to match the second capturing device's geometric restrictions, then representation compatibility is improved, but data processing time increases

Engineering Contradiction:

Improverepresentation compatibilityVSAvoiddata processing time

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The patent performs preliminary analysis of the geometric restrictions from the second capturing device before transforming the first data structure. By pre-identifying the most restrictive geometric constraints and preparing the transformation parameters in advance, the system reduces the actual processing time required during the alignment operation itself.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The patent applies different transformation operations to different portions of the 3D data structure based on local geometric requirements. Rather than uniformly transforming the entire dataset, it identifies specific regions or features that require alignment and applies geometric restrictions locally where needed, reducing overall processing time while maintaining compatibility.

Inventive Principle:

Principle #3Local quality

Data Source

PatentUS20230360237A1Aligning representations of 3D space

Publication Date: 2023.11.09 TELEFONAKTIEBOLAGET LM ERICSSON (PUBL)

AI summary

A method for aligning representations of a 3D space is provided, including: obtaining a first set of geometric restrictions for a first representation corresponding to capturing restrictions of a first capturing device, the first representation forming part of a map for positioning of capturing devices; obtaining a second set of geometric restrictions corresponding to capturing restrictions of a second capturing device for providing a second representation of a 3D physical space; determining that a difference between the first set of geometric restrictions and the second set of geometric restrictions exceeds a threshold; determining which one of the first set of geometric restrictions and the second set of geometric restrictions is most restrictive and which one is least restrictive; and triggering a restrictive determination of the representation that is based on the least restrictive set of geometric restrictions, the determination being based on the most restrictive set of geometric restrictions.