Mobile Platform Localization via Digital Map Alignment
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Solution Overview
Problem
Current localization solutions for mobile platforms in dynamic and cluttered environments, such as indoor facilities, are limited by the need for static landmarks and line-of-sight requirements, making them costly and restrictive.
Innovation Solution
A system and method that uses a transformation module to align digital maps from different coordinate systems, enabling continuous pose estimation and navigation of mobile vehicles without relying on static landmarks, utilizing a combination of onboard mapping and localization systems with wireless locating systems for accurate positioning in dynamic environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If laser reflectors are installed on walls at regular intervals to enable laser tracking localization, then localization accuracy is improved, but installation cost and complexity increase
Solution Approach 1:
The patent removes the requirement for laser reflectors entirely from the localization system. Instead of installing reflectors on walls, the system uses natural architectural features detected by laser scanners to create localization references, eliminating the need for additional hardware installation while maintaining localization accuracy
Solution Approach 2:
The system creates a digital copy of the physical environment's architectural features through laser scanning. This digital model serves as the localization reference instead of physical laser reflectors, allowing the mobile platform to be localized by comparing its sensor data against the pre-built digital map of natural features
2Reliability
If paint, tape, or magnets are installed on the floor as landmarks for automated guided vehicles, then localization is enabled, but installation time and cost increase
Solution Approach 1:
The system enables the environment to serve itself for localization purposes. Natural architectural features that already exist in the facility (walls, floors, ceilings, structural elements) are used as localization references without requiring any installation or modification. The mobile platform's laser scanner automatically detects and uses these features, making the environment self-sufficient for localization
Solution Approach 2:
The laser scanning system serves multiple functions: it creates the digital map for localization, detects architectural features for navigation, and can identify obstacles. This multi-functional approach eliminates the need for separate localization infrastructure like paint markers or magnetic tapes
3Manufacturing precision
If landmarks are installed to constrain mobile platforms to follow pre-defined routes, then route following accuracy is improved, but route flexibility decreases
Solution Approach 1:
The localization system transitions from static pre-defined routes to dynamic adaptive routing. The mobile platform uses its laser scanner to detect architectural features in real-time and calculate its position against the digital map, enabling it to follow any route within the environment rather than being constrained to pre-marked paths. The system can dynamically adjust routes based on obstacles or changing conditions
4Area of stationary object
If laser reflectors are installed on perimeter walls for laser tracking, then localization coverage is improved, but line-of-sight requirements increase system complexity
Solution Approach 1:
The system transitions from two-dimensional wall-mounted reflectors to three-dimensional volumetric scanning of the entire environment. The laser scanner captures data from all directions (up, down, left, right, forward, backward) to build a complete digital model, allowing localization from any position without requiring line-of-sight to specific wall-mounted reflectors
Data Source
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AI summary
A system includes a transformation module (402), alignment module (406) and aligned localization module (408). The transformation module (402) is configured to receive first and second pose estimates (502, 602) of a mobile vehicle (102) movable within an environment. The first and second pose estimates (502, 602) are relative to different, respective first and second digital maps (500, 600) of the environment in different, respective first and second coordinate systems. The transformation module (402), then, may be configured to calculate a geometric transform between the first and second digital maps (500, 600) based on the first and second pose estimates (502, 602). The alignment module (406) may be configured to align the first and second digital maps (500, 600) based on the geometric transform, and thereby generate an aligned digital map. And the aligned localization module (408) may be configured to localize the mobile vehicle (102) relative to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile vehicle (102).