LiDAR Point Cloud Matching for Marker-Free Object Positioning
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Solution Overview
Problem
Existing position management systems for moving objects, such as drones, require markers or reflectors for accurate positioning, which can be ineffective when the object is moving in a direction that obstructs the view of these markers.
Innovation Solution
A position management device using LiDAR to measure distances and acquire point cloud data, selecting coordinate pairs based on directional similarity, and performing positioning processing to estimate the object's position without markers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If markers or reflectors are attached to moving objects for position recognition, then positioning can be performed, but the positioning fails when the object moves in a direction that obstructs the view of these markers
Solution Approach 1:
The invention extracts and removes the markers and reflectors from the moving object. Instead of relying on attached markers, the system uses the moving object's own body surface as the recognition target, eliminating the limitation of directional visibility and enabling reliable position recognition regardless of movement direction.
Solution Approach 2:
The moving object's body surface serves multiple functions: it is both the object to be tracked and the recognition target itself. This universal approach allows the same surface to provide positioning information from any viewing angle, making the system adaptable to all movement directions without requiring specialized markers.
2Measurement precision
If markers are attached to moving objects, then position can be recognized, but this increases device complexity and requires additional components on the moving object
Solution Approach 1:
The invention removes the need for markers, reflectors, and other attached components from the moving object. By using the object's natural body surface as the recognition target, the system achieves position measurement capability without increasing the complexity or modifying the moving object's configuration.
Solution Approach 2:
The moving object's own body surface serves as the recognition target, making the object self-sufficient for positioning purposes. This self-service approach eliminates the need for additional components, reducing device complexity while maintaining measurement precision.
3Measurement precision
If markers are used for position recognition, then positioning is possible, but this increases the weight and volume of the moving object
Solution Approach 1:
The invention extracts and eliminates markers, reflectors, and other attached components from the moving object. By using the object's body surface itself as the recognition target, the system maintains position recognition accuracy without adding any weight or volume to the moving object.
Solution Approach 2:
The moving object's body surface serves as the recognition target, making the object self-sufficient for positioning. This approach eliminates the need for additional components, thereby avoiding any increase in weight or volume while preserving measurement precision.
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
Enables accurate positioning of moving objects by correlating point cloud data from different times, allowing for marker-less recognition and improved positioning accuracy.
Implementation Method 1
a sensor configured to measure distances of a plurality of parts of a moving object in each unit time and acquire point cloud data indicating coordinates on a space of the plurality of parts in each unit time
Data Source
AI summary
A position management device includes: a sensor which acquires point cloud data in each unit time; a pair selection unit which selects a pair of the coordinates between first point cloud data and second point cloud data; and a position estimation unit which estimates a position of the moving object by making both coordinates of the pair selected by the pair selection unit correspond to each other and performing positioning processing of the first point cloud data and the second point cloud data. The pair selection unit selects the pair of the coordinates by pairing a first point belonging to the first point cloud data and a second point belonging to the second point cloud data in a case where a difference between a direction of the first point and a direction of the second point is equal to or smaller than a predetermined first threshold.