Mobile Device Positioning Using Lidar Map Segmentation

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Solution Overview

Problem

Existing positioning systems for smart mobile devices, such as robots, struggle to quickly and accurately determine their location on a known map when starting from a non-original point, especially for low-power devices in large areas, using methods like Adaptive Monte Carlo Localization.

Innovation Solution

A positioning system comprising a lidar, controller, and storage device that generates an initial local map, compares it with partial areas of a global map to find similar areas, calculates candidate coordinates, and selects the highest similarity score for accurate positioning, allowing the device to be placed randomly on a map and achieve fast and accurate location determination.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If Adaptive Monte Carlo Localization algorithm is used for positioning, then the device can obtain location information on a map, but the positioning speed is slow and accuracy is insufficient for low-power devices in large areas

Engineering Contradiction:

Improvepositioning accuracyVSAvoidpositioning time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The global map is divided into multiple partial areas, and the lidar only scans and compares the current partial area where the device is located. This segmentation approach reduces the comparison scope from the entire global map to a localized region, significantly improving positioning speed while maintaining accuracy for low-power devices.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system pre-divides the global map into multiple partial areas and pre-establishes their spatial relationships. When positioning is needed, the device can directly compare its local map with the pre-divided partial areas without needing to process the entire global map, reducing computation time and energy consumption.

Inventive Principle:

Principle #10Preliminary action

2Adaptability or versatility

If the device is placed at a non-origin position on the map, then the device can be operated from any location, but the device cannot know its location on the map using traditional positioning methods

Engineering Contradiction:

Improvestarting position flexibilityVSAvoidlocation information

Core Design Contradiction:

Adaptability or versatilityVSLoss of information

Solution Approach 1:

The positioning system enables the device to autonomously determine its location on the global map by comparing its locally scanned environment with the pre-divided partial areas of the global map. The device self-identifies its position without needing external assistance or predefined starting points, allowing operation from any location while maintaining location awareness.

Inventive Principle:

Principle #25Self-service

3Measurement precision

If the entire global map is used for comparison, then comprehensive location information can be obtained, but the computation time and energy consumption increase significantly

Engineering Contradiction:

Improvepositioning accuracyVSAvoidenergy consumption

Core Design Contradiction:

Measurement precisionVSUse of energy by moving object

Solution Approach 1:

The global map is segmented into multiple partial areas, and the system only performs comparison operations within the relevant partial area where the device is currently located. This reduces the amount of data that needs to be processed and compared, significantly lowering energy consumption while maintaining positioning accuracy through localized map matching.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Instead of performing complete global map comparison, the system applies partial action by only comparing the device's local map with the corresponding partial area of the global map. This partial comparison approach provides sufficient positioning accuracy without the excessive energy consumption of processing the entire global map.

Inventive Principle:

Principle #16Partial or excessive action

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 fast and accurate positioning of mobile devices on a known map, even when starting from a non-origin position, by using lidar-generated local maps and correlation matching methods to identify similar areas on the global map, enhancing the ability to operate from any location.

Implementation Method 1

The lidar is configured to generate an initial local map

Methodology Applied

Scientific EffectLIDAR: LIDAR

Implementation Method 2

the mobile device can use the laser light source to combine the map information for positioning

Methodology Applied

Scientific EffectLight reflection: Reflection

Data Source

PatentUS11557021B2Positioning system of mobile device

Publication Date: 2023.01.17 QUANTA COMPUTER INC

AI summary

A positioning system includes a storage device, a lidar and a controller. The storage device stores a global map. The lidar generates an initial local map. The controller rotates the initial local map to generate a rotated local map, compares the rotated local map and the initial local map separately with a plurality of partial areas of the global map, so as to obtain at least one similar area, calculates at least one candidate coordinates for a mobile device on the global map according to the center point of each of the similar areas, and calculates similarity scores according to each of the candidate coordinates, and selects the candidate coordinates having highest similarity score for use as coordinate of the mobile device on the global map.