Fractional LIDAR Sweep Pose Estimation for Mobile Robots
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Solution Overview
Problem
Current mobile autonomous apparatuses, such as robots and UAVs, face limitations in pose estimation frequency due to the restricted rotation rate of LIDAR sensors, requiring higher-end devices for faster pose updates, which increases costs and may lead to pose estimation failures if the ground-truth pose differs significantly from the initial estimate.
Innovation Solution
Implementing a system that allows pose estimation using fractional segments of LIDAR data, enabling more frequent updates independent of the LIDAR sweep completion, by utilizing interface circuitry and pose estimation circuitry to determine the current pose of the apparatus every fractional time period, and maintaining a moving buffer to ensure a full view of the environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a higher rotation rate LIDAR device is chosen to increase pose estimation frequency, then pose estimation frequency is improved, but system cost increases
Solution Approach 1:
The patent divides a complete LIDAR sweep cycle into multiple fractional segments, allowing pose estimation to be performed on each segment independently. This segmentation enables multiple pose estimates to be generated from a single LIDAR rotation cycle, effectively increasing pose estimation frequency without requiring a faster rotating LIDAR device.
Solution Approach 2:
The system performs preliminary actions by accumulating and storing LIDAR scan segments in a buffer before processing. By preparing fractional segments in advance and maintaining a rolling buffer of scan data, the system can quickly generate pose estimates without waiting for complete sweep cycles, thereby increasing estimation frequency while using standard-speed LIDAR hardware.
2Reliability
If pose estimation is performed only after complete LIDAR sweep, then measurement reliability is maintained, but pose estimation frequency is limited
Solution Approach 1:
The patent segments the complete LIDAR sweep into multiple fractional portions, each sufficient for independent pose estimation. By processing these segments individually rather than waiting for the complete sweep, the system maintains measurement reliability while generating multiple pose estimates per rotation cycle, thus increasing frequency.
Solution Approach 2:
The system maintains continuous pose estimation by processing LIDAR data segments as they become available, rather than waiting for discrete complete sweep cycles. This continuous processing approach ensures that useful action (pose estimation) occurs throughout the entire operation, maximizing frequency while maintaining reliability through ongoing validation.
3Speed
If higher pose estimation frequency is required, then a higher-end LIDAR device must be chosen, but device complexity increases
Solution Approach 1:
The patent applies segmentation by dividing the LIDAR data acquisition process into fractional segments that can be processed independently. This allows the system to achieve high pose estimation frequency using a standard-speed LIDAR device, avoiding the need for complex high-end hardware while maintaining performance through intelligent data processing.
Solution Approach 2:
The system dynamically processes LIDAR data segments as they arrive, adjusting the processing pipeline to handle fractional sweeps. This dynamic approach allows flexible pose estimation at high frequencies without requiring the LIDAR device itself to operate at higher speeds, thereby reducing device complexity and cost.
Data Source
AI summary
Apparatus for determining a current pose of a mobile autonomous apparatus is presented. In embodiments, an apparatus may include interface circuitry to receive detection and ranging data outputted by a Light Detection and Ranging (LIDAR) sensor that nominally sweeps and provides D degrees of detection and ranging data in continuous plurality of quanta, each covering a portion of the D degrees sweep, every time period T. The apparatus may further include pose estimation circuitry coupled to the interface circuitry to determine and provide a current pose of the mobile autonomous apparatus every fractional time period t, independent of when the LIDAR sensor actually completes each sweep. In embodiments, the apparatus may be disposed on the mobile autonomous apparatus.