Collaborative Map Construction Using Overlapping Sensor Depth Data
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Solution Overview
Problem
Autonomous and semi-autonomous vehicles and robotic devices are limited by their 360-degree field of view, restricting their ability to navigate and operate efficiently in environments beyond their immediate surroundings, as they cannot observe areas beyond their direct observation range, leading to missed obstacles and inefficiencies in tasks such as parking and navigation.
Innovation Solution
A method and system for constructing a spatial model of an environment by capturing and aligning depth data from multiple sensors with overlapping fields of view, allowing vehicles to combine and extend their map beyond their immediate field of view through data sharing and processing, using processors to identify overlap and combine readings from different sources to create a comprehensive map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If autonomous vehicles use a 360-degree field of view sensor to map their environment, then they can observe their immediate surroundings, but they cannot observe areas beyond their direct observation range
Solution Approach 1:
The patent merges depth data from multiple sensors with overlapping fields of view to construct an extended map. By combining readings from different sensor positions and orientations, the system creates a comprehensive environmental model that extends beyond any single sensor's immediate field of view, eliminating blind spots while maintaining complete area coverage.
2Measurement precision
If autonomous vehicles rely only on their own sensor data, then they have accurate local information, but they cannot efficiently navigate to distant locations or find optimal routes
Solution Approach 1:
The system performs preliminary mapping actions by constructing an extended map that includes areas beyond the vehicle's current position. Depth data from multiple sensors is processed in advance to create a comprehensive environmental model, allowing the vehicle to plan efficient routes to distant locations without having to physically explore every area first.
3Area of stationary object
If autonomous vehicles use multiple sensors with overlapping fields of view, then they can construct an extended map, but the data processing and alignment complexity increases
Solution Approach 1:
The patent uses depth data as an intermediary element to bridge multiple sensor fields of view. By processing depth information from overlapping sensor readings and aligning them through systematic comparison, the system creates a unified extended map while managing processing complexity through structured data integration methods.
Data Source
AI summary
Methods and systems for collaboratively constructing a map of an environment. One or more sensory devices installed on an autonomous vehicle take readings within a field of view of the sensory device. As the vehicle moves within the environment, the sensory device continuously takes readings within new fields of view. At the same time, sensory devices installed on other autonomous vehicles operating within the same environment and/or fixed devices monitoring the environment take readings within their respective fields of view. The readings recorded by a processor of each autonomous vehicle may be shared with all other processors of autonomous vehicles operating within the same environment with whom a data transfer channel is established. Processors combine overlapping readings to construct continuously growing segments of the map. Combined readings are taken by the same sensory device or by different sensory devices and are taken at the same time or at different times.