Map Creation Device Using Odometry and GNSS Error Comparison
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Solution Overview
Problem
Existing map creation techniques face challenges in achieving high accuracy due to environmental conditions affecting GNSS satellite reception and odometry information, and the use of binocular cameras increases processing load and cost.
Innovation Solution
A map creation system that employs a processor to estimate vehicle positions and errors using odometry information and GNSS satellite signals, prioritizes position information with smaller errors, and corrects map scale based on moving distance calculations, utilizing a monocular camera for image acquisition.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If binocular camera is used to create road map, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The patent divides the positioning function into two independent modules: odometry-based positioning and GNSS-based positioning. Each module operates separately and can be independently optimized, allowing the system to achieve high positioning accuracy without requiring a complex binocular camera system. The odometry module uses wheel speed sensors and steering angle sensors, while the GNSS module uses satellite signals, and both can function independently.
Solution Approach 2:
The patent makes the positioning system multi-functional by integrating multiple positioning methods (odometry and GNSS) that can serve different functions. The odometry system provides continuous positioning data, while GNSS provides absolute position reference. This multi-functional approach allows the system to achieve binocular-camera-level accuracy using simpler, more versatile components.
2Measurement precision
If binocular camera is used to create road map, then measurement precision is improved, but loss of energy increases due to increased process load and process time
Solution Approach 1:
The patent segments the image processing task by using a monocular camera instead of binocular camera, which significantly reduces the computational load for depth estimation and 3D reconstruction. The system processes images from a single camera viewpoint, requiring fewer computational resources for feature matching and disparity calculation, thereby reducing energy consumption while maintaining adequate mapping precision.
Solution Approach 2:
The patent uses odometry information and GNSS data as alternative sources of positional information that can replace the computationally intensive binocular vision system. By copying positioning data from these simpler sensors, the system achieves similar accuracy without the high energy cost of processing multiple camera images.
3Loss of information
If GNSS satellite signals are used for position estimation, then position information can be obtained, but reliability decreases under deteriorated receiving environment
Solution Approach 1:
The patent merges odometry-based positioning and GNSS-based positioning into a unified positioning system. The odometry module continuously tracks vehicle position using wheel speed and steering angle data, providing reliable positioning even when GNSS signals are weak or unavailable. The GNSS module provides absolute position reference when signals are strong. By combining these two methods, the system maintains high reliability and continuous position information availability regardless of GNSS receiving conditions.
Solution Approach 2:
The patent implements beforehand cushioning by preparing alternative positioning methods (odometry) in advance to compensate for potential GNSS signal failures. The odometry system is continuously running and ready to take over positioning functions immediately when GNSS signals deteriorate, ensuring uninterrupted and reliable position estimation without waiting for signal recovery.
4Duration of action of moving object
If odometry information is used for position estimation, then position information can be obtained continuously, but measurement precision decreases due to error accumulation
Solution Approach 1:
The patent implements feedback by using GNSS position data to correct and reset the odometry-based position estimates periodically. The odometry system provides continuous positioning data that can be compared with absolute GNSS positions, and the differences are used to correct accumulated odometry errors. This feedback mechanism maintains measurement precision over extended periods while preserving the continuous positioning capability of the odometry system.
Data Source
AI summary
A map creation device includes a processor, and the processor is configured to execute a program to acquire an image captured by a camera mounted in a vehicle, estimate a first position indicating a position of the vehicle and an error of the first position based on information indicating a traveling state of the vehicle, estimate a second position indicating the position of the vehicle and an error of the second position based on radio waves transmitted from artificial satellites, set position information of the vehicle preferentially using one position with a smaller error of the first position and the second position, and create a map of places in which the vehicle has traveled based on the set position information of the vehicle and the image.