Environment Map Adjustment Value Calculation for V-SLAM Position Errors
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Solution Overview
Problem
The use of GNSS information in V-SLAM for creating environment maps results in position errors, leading to deviations at the boundaries of each region, causing gaps when switching between map regions.
Innovation Solution
An environment map adjustment value calculation method and program that compares the position and orientation of image features across different environment maps, calculates positional differences, and adjusts the position error by interpolating GNSS values and applying spatial transformation matrices to align the maps accurately.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GNSS information is used to create environment maps in V-SLAM, then the position and orientation of the own vehicle can be estimated, but position errors occur leading to deviations at boundary portions of each environment map
Solution Approach 1:
The patent introduces an adjustment value calculation mechanism that acts as an intermediary between multiple environment maps. By calculating adjustment values based on common image feature points in overlapping regions and applying spatial transformation matrices, the system mediates the position errors between maps to achieve seamless transitions while maintaining measurement precision.
Solution Approach 2:
The system implements feedback by using common image feature points in overlapping regions to calculate adjustment values. This feedback mechanism continuously corrects position errors by comparing feature points across map boundaries and applying transformations to eliminate deviations, ensuring map continuity.
2Area of stationary object
If multiple environment maps are created for different regions, then the coverage area is expanded, but gaps with sudden large position changes occur when switching between map regions
Solution Approach 1:
The patent divides the large-scale environment into multiple separate environment maps for different regions, each created independently. This segmentation allows extensive coverage while managing complexity, and the adjustment value calculation ensures smooth transitions between segmented maps by correcting position errors at boundaries.
Solution Approach 2:
The system applies parameter changes through spatial transformation matrices that adjust position coordinates in overlapping regions. By changing the positional parameters of common image feature points based on calculated adjustment values, the system eliminates sudden position changes during map transitions while maintaining expanded coverage.
3Duration of action of stationary object
If environment maps are updated using acquired image feature information, then the maps can be maintained over time, but GNSS errors accumulate leading to larger deviations
Solution Approach 1:
The patent performs preliminary action by calculating adjustment values in advance using common image feature points in overlapping regions. By pre-computing the necessary spatial transformations based on accumulated GNSS data and feature point comparisons, the system corrects position errors before they propagate, maintaining measurement precision over extended periods.
Data Source
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AI summary
A program causes a computer to execute a process that includes: adjusting a difference between a first environment map created based on a feature of a given image among captured first time-series images and a second environment map created based on a feature of a given image among second time-series images captured separately from the first time-series images; comparing a position of an image related to a position and orientation calculated based on information on the first environment map with a position of an image related to a position and orientation calculated based on information on the second environment map, and calculating an adjustment value for adjusting a difference between the first environment map and the second environment map based on a result of the comparison.