Movable Apparatus Mapping With Object-Type Analysis for Pose Accuracy

The patent applies local quality by differentiating the treatment of different obstacle types within the environment map. Static obstacles are permanently registered to provide stable reference features for measurement, while dynamic obstacles are temporarily registered only when needed for collision avoidance. This selective registration strategy ensures that the environment map maintains high reliability for position and posture measurement through static features, while still providing comprehensive obstacle information including temporary dynamic obstacles when required.

The patent implements dynamics by creating a dual-layer environment map system that adapts to different operational requirements. The static environment map layer maintains permanent features for stable position and posture measurement, while the dynamic overlay layer temporarily registers moving obstacles during their presence. This dynamic structure allows the environment map to be updated frequently to reflect current surroundings without compromising measurement accuracy, as the static reference features remain unchanged while temporary obstacles are added only when necessary.