Hierarchical 3D Mapping With 2D Laser Scanner Optimization
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Solution Overview
Problem
Conventional methods for generating 3D maps using mobile robots are costly and complex, relying on multiple high-priced sensor systems, which complicates location estimation and mapping, and burdens maintenance with accuracy requirements.
Innovation Solution
A method and apparatus that utilize a low-priced 2D laser scanner to generate a 3D high-precision map through a hierarchical structure, forming local and global maps based on nodes and optimizing them using inter-layer correlations, with a 2D push-broom LiDAR and odometry information, and applying algorithms like ICP for accurate mapping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional sensor systems (multiple high-priced sensors) are used for location estimation and mapping, then mapping accuracy is improved, but cost and device complexity increase
Solution Approach 1:
The patent divides the mapping process into two hierarchical levels: local mapping (detailed 3D map construction from laser scans) and global mapping (2D semantic map construction from recognized objects). This segmentation allows each level to use optimized algorithms and data structures appropriate to its scale, reducing overall system complexity while maintaining accuracy at both levels.
Solution Approach 2:
The patent introduces an intermediary object recognition module that bridges the gap between 2D laser scanner data and 3D environmental understanding. By recognizing objects in 2D images and using their spatial relationships, the system constructs accurate maps without requiring complex 3D sensors, thus reducing device complexity while maintaining mapping precision.
2Measurement precision
If multiple sensor systems are used for accurate location estimation, then mapping precision is improved, but maintenance burden increases
Solution Approach 1:
The patent makes the 2D laser scanner perform multiple functions: it is used for both local 3D mapping and global 2D mapping, and also for object recognition. This multi-functionality eliminates the need for separate sensor systems, reducing maintenance burden while maintaining location estimation accuracy through the hierarchical mapping approach.
Solution Approach 2:
The system uses the mobile robot's own movement information (odometry) and 2D laser scanner data to self-correct and refine its location estimates through the hierarchical mapping process. The inter-layer optimization automatically adjusts local and global maps to maintain consistency, reducing the need for external calibration and maintenance.
3Ease of manufacture
If 2D laser scanner is used instead of high-priced sensor systems, then cost is reduced, but mapping precision deteriorates
Solution Approach 1:
The patent compensates for the 2D laser scanner's limitation by introducing the temporal dimension through sequential scanning as the mobile robot moves. By combining 2D scans taken at different positions and times with odometry data, the system reconstructs accurate 3D spatial information, achieving 3D mapping precision with a 2D sensor.
Solution Approach 2:
The patent creates a composite mapping system that combines multiple data sources: 2D laser scan data, 2D image data for object recognition, and odometry information. This composite approach allows the system to achieve accurate 3D and 2D maps using inexpensive individual components, with the synergistic combination compensating for each component's limitations.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables the production of accurate 3D maps with reduced costs and complexity by optimizing local and global maps, enhancing mapping accuracy and minimizing errors through repeated inter-layer optimization.
Implementation Method 1
forming the nodes using sensor information measured from a two-dimensional (2D) push-broom light detection and ranging (LiDAR) of the mobile robot
Data Source
AI summary
An apparatus and method for producing a map based on a hierarchical structure to produce a 3D high-precision map based on the hierarchical structure using a low-priced 2D laser scanner is provided. The apparatus and method produces the 3D high-precision map based on the hierarchical structure using the low-priced 2D laser scanner.