LiDAR SLAM Location Estimation Using Geomagnetic Direction
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Solution Overview
Problem
Simultaneous localization and mapping (SLAM) using only a LiDAR sensor is complex and requires searching all locations and angles, increasing the demand for SLAM methods that incorporate other sensors to estimate the location of electronic apparatuses like mobile robots.
Innovation Solution
An electronic apparatus that uses both a geomagnetic sensor and a LiDAR sensor to obtain geomagnetic information, identify directions, and determine its location on a LiDAR map, reducing complexity by prioritizing searches within a predetermined range based on geomagnetic data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If SLAM is performed using only a LiDAR sensor, then the location estimation can be achieved, but the complexity of the system increases due to searching all locations and angles
Solution Approach 1:
The patent combines LiDAR sensor data with geomagnetic sensor data to perform SLAM. The geomagnetic sensor provides directional information that constrains the search space, while the LiDAR sensor provides spatial mapping information. This merging of multiple sensor types reduces the overall system complexity by dividing the estimation task between sensors with different strengths.
Solution Approach 2:
The geomagnetic sensor acts as an intermediary that provides directional constraints to the LiDAR-based SLAM system. By first determining the direction from the geomagnetic sensor and then using this information to guide the LiDAR search, the system reduces the computational burden of searching all possible locations and angles, thus reducing complexity while maintaining accuracy.
2Measurement precision
If SLAM searches all locations and angles using LiDAR sensor, then complete location coverage is achieved, but the time required for location estimation increases
Solution Approach 1:
The geomagnetic sensor performs preliminary directional measurement before the LiDAR sensor conducts full spatial scanning. By first establishing the approximate direction through the geomagnetic sensor, the system prepares a constrained search space that reduces the time required for subsequent LiDAR-based location estimation, while still achieving complete coverage and precision.
3Productivity
If multi-sensor SLAM is implemented to reduce complexity, then the SLAM process becomes more efficient, but the device complexity increases due to additional sensors
Solution Approach 1:
The geomagnetic sensor serves multiple functions: it provides directional information for constraining the search space, enables faster location estimation, and works synergistically with the LiDAR sensor. This multi-functionality justifies the addition of the sensor by demonstrating that it contributes to overall system efficiency rather than merely increasing complexity.
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 allows for faster and less complex location estimation of electronic apparatuses by integrating geomagnetic information with LiDAR-based SLAM, enhancing the efficiency of the SLAM process.
Implementation Method 1
obtaining geomagnetic information around the electronic apparatus using a geomagnetic sensor
Implementation Method 2
obtain a LiDAR map for estimating a location of the electronic apparatus, based on an event for obtaining the location of the electronic apparatus occurring
Data Source
AI summary
An electronic apparatus and a method of controlling thereof are provided. The method of controlling the electronic apparatus includes obtaining a light detection and ranging (LiDAR) map for estimating a location of the electronic apparatus, based on an event for obtaining the location of the electronic apparatus occurring, obtaining geomagnetic information around the electronic apparatus using a geomagnetic sensor, identifying a direction of the electronic apparatus based on the obtained geomagnetic information, and obtaining the location of the electronic apparatus on the LiDAR map based on the identified direction and the LiDAR sensor.