Portable Sensor Localization with Pose-Based Sensor Switching
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Solution Overview
Problem
Current localization and mapping technologies, such as SLAM, face challenges in efficiently managing power consumption and sensor resource utilization due to the continuous operation of multiple sensors, which can lead to increased energy usage and reduced performance in varying environmental conditions.
Innovation Solution
A method and device that dynamically activate and deactivate sensors based on environmental conditions and performance requirements, switching between sensors to optimize resource use and maintain localization performance while reducing power consumption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors are continuously activated for localization and mapping, then localization accuracy and robustness are improved, but power consumption increases
Solution Approach 1:
The system dynamically adjusts sensor activation states based on environmental conditions and localization performance requirements. The processor continuously monitors localization accuracy and environmental factors, switching sensors on or off in real-time to maintain performance while optimizing power consumption.
Solution Approach 2:
The system changes operational parameters by selectively activating or deactivating specific sensors based on detected environmental conditions. When certain conditions are met (e.g., sufficient visual features available), the system switches from using power-intensive depth sensors to using only RGB cameras, thereby changing the energy consumption parameter while maintaining localization functionality.
2Measurement precision
If depth cameras are used to improve localization accuracy and capture more environmental information, then measurement precision is improved, but device complexity and processing requirements increase
Solution Approach 1:
Instead of continuously using all available sensors including power-intensive depth cameras, the system applies partial action by selectively activating depth sensors only when necessary. The processor evaluates whether the additional processing power required by depth cameras is justified by the current environmental conditions and localization performance needs.
Solution Approach 2:
The system designs the sensor fusion architecture to be universal, where the same processor and localization algorithm can handle data from different sensor combinations. This multi-functionality allows the system to switch between using only RGB cameras, only depth sensors, or fused data from both, depending on which combination best meets the current localization requirements with minimal processing overhead.
3Reliability
If all sensors are always turned on to ensure robust localization performance, then reliability is improved, but energy resources are depleted faster
Solution Approach 1:
The system implements feedback control by continuously monitoring localization performance metrics and environmental conditions, then using this information to adjust sensor activation states. The processor evaluates whether current sensor configurations are achieving sufficient localization robustness and switches sensors on or off accordingly, creating a closed-loop system that maintains reliability while optimizing energy usage.
Solution Approach 2:
The system performs preliminary evaluation of environmental conditions before switching sensor configurations. By assessing factors such as lighting conditions, texture availability, and current localization accuracy in advance, the system can proactively switch to more energy-efficient sensor configurations before energy resources are depleted, rather than reactively switching after performance degradation occurs.
Data Source
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AI summary
A device is configured for performing localization using a set of sensors that are transportable with the device. The device includes at least one processor operationally connected to the set of sensors, and at least one memory that stores program code. The program code configures the at least one processor to determine a first set of device poses (PA) where a first sensor satisfies a localization performance rule, and to determine a second set of device poses (PB) where a second sensor satisfies the localization performance rule. The at least one processor is further configured to activate the second sensor while the first sensor is active based on a pose of the device transitioning from not being within to being within the second set of device poses (PB).