3D Map Element Screening for SLAM Localization Recovery
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Solution Overview
Problem
Existing SLAM technologies face issues with incorrect localization due to the selection of map elements that are far away from the current position, leading to erroneous position estimation when multiple similar elements are present.
Innovation Solution
An information processing apparatus that acquires and analyzes map elements to determine positions where wrong position estimation is likely, generating display data to highlight these areas, allowing users to avoid them and correct localization errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If map elements are broadly searched for localization recovery, then the chance of finding similar map elements increases, but the risk of selecting a map element located far away from the current position increases, leading to incorrect localization
Solution Approach 1:
The system pre-calculates and stores distance information between map elements during the map building phase. When localization recovery is needed, this pre-stored distance information is immediately used to filter out distant map elements, avoiding the need for real-time distance calculation and enabling fast, accurate selection of the correct map element.
Solution Approach 2:
The patent introduces distance information as an intermediary criterion between map element similarity and localization accuracy. By using distance as a filtering mediator, the system eliminates map elements that are similar but located far away, thereby preventing incorrect localization while maintaining the ability to find suitable map elements for recovery.
2Adaptability or versatility
If multiple similar map elements are present in the environment, then the system has more options for localization, but the difficulty of correctly identifying the current position increases
Solution Approach 1:
The system segments the set of similar map elements by introducing a distance-based filtering criterion. This divides the candidate map elements into two groups: those within an acceptable distance threshold and those beyond it. By segmenting the search space, the system maintains adaptability to various environments while reducing the identification difficulty through structured filtering.
Solution Approach 2:
The patent applies local quality by treating map elements at different distances differently. Map elements within the distance threshold are considered valid candidates, while those beyond the threshold are excluded. This differential treatment based on local distance characteristics enables the system to handle multiple similar map elements effectively by emphasizing locally relevant candidates.
3Measurement precision
If the system provides detailed information about map element positions to help users avoid wrong localization, then the accuracy of position estimation improves, but the complexity of the system increases
Solution Approach 1:
The system extracts only the essential distance information from map elements and presents it to users in a simplified format. Instead of providing comprehensive details about all map element properties, the system focuses on extracting and displaying distance-based relevance, thereby improving position estimation accuracy while minimizing the increase in system complexity.
Solution Approach 2:
The patent uses visual indicators (such as color coding or graphical markers) to represent the distance and relevance of map elements. This visual representation method allows users to quickly understand which map elements are most relevant for current localization without requiring complex data processing or analysis, thus improving measurement precision while keeping the user interface simple.
Data Source
AI summary
An information processing apparatus includes one or more computer-readable storage media and one or more processors in communication with the one or more computer-readable storage media. The one or more processors and the one or more computer-readable storage media are configured to acquire a plurality of map elements from a storage unit configured to store three-dimensional map information based on the plurality of map elements, each of which includes an image captured by an imaging apparatus mounted on a vehicle and also includes position information indicating a position of the imaging apparatus by which the image is captured, make a determination to detect a map element including an image captured at a position where wrong position is likely to be estimated in a localization of the imaging apparatus, and generate display data for distinguishably displaying the position indicated by the position information included in the detected map element.