Autonomous Navigation Map Correction for Odometry Drift
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Solution Overview
Problem
Autonomous movement devices face challenges in maintaining accurate position estimation and map creation due to errors accumulated from odometry, which degrade over time due to factors like friction and slip, affecting their precision and reliability in navigating and mapping indoor spaces.
Innovation Solution
The autonomous movement device incorporates a position measurer, map memory, a position estimator, a determiner to assess position errors, and a map editor that edits the map when errors exceed a predetermined range, utilizing a combination of odometry and SLAM (Simultaneous Localization And Mapping) techniques with image processing and sensor data to maintain accurate mapping and navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If SLAM technology is used for map creation and position estimation, then autonomous navigation capability is improved, but position estimation accuracy deteriorates over time due to error accumulation from odometry
Solution Approach 1:
The patent implements a feedback mechanism where the system continuously compares the measured position (from odometry) with the estimated position (from SLAM) and uses the difference (error) to correct the map information. This closed-loop feedback ensures that position estimation accuracy is maintained over time by compensating for accumulated errors through iterative map corrections.
2Speed
If odometry is used for position measurement, then device movement tracking is improved, but measurement precision deteriorates over time due to friction and slip
Solution Approach 1:
The patent introduces map information as an intermediary element that mediates between odometry measurements and SLAM estimations. The system uses the difference between measured and estimated positions to identify errors in odometry and corrects the map information accordingly. This intermediary mechanism allows the system to maintain accurate position tracking while compensating for odometry errors caused by friction and slip.
3Measurement precision
If map information is continuously corrected based on position errors, then position estimation accuracy is improved, but device complexity increases
Solution Approach 1:
The patent implements a dynamic correction mechanism where the system adaptively updates map information based on the detected position errors. Rather than using a static correction approach, the system continuously adjusts the map information as the device moves and new position errors are identified. This dynamic approach maintains high position estimation accuracy while managing system complexity through efficient, on-the-fly corrections.
Data Source
AI summary
A determination on whether or not a local device position and a map contain an error is made. A position measurer of an autonomous movement device measures a local device position. A map memory stores the created map. A position estimator estimates the local device position. A determiner determines whether or not a difference between the measured position by the position measurer and the estimated position by the position estimator is within a predetermined error range. A map editor edits the stored map in the map memory when the determiner determines that the difference is out of the predetermined range.