Mobile Unit Pose Localization via Collision-Free Region Mapping
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Solution Overview
Problem
Existing localization methods for determining the pose of a mobile unit, such as in robotics or autonomous driving, are inaccurate when few or no landmarks are detected, or when clear matching cannot be achieved, especially in regions with limited or unknown landmarks.
Innovation Solution
A method that uses a sensor device to register environment images and compare them with a map marked with passable regions to determine the pose of the mobile unit, calculating collision-free regions and projecting them onto the map for reliable and flexible positioning, even in areas with limited or no landmarks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If landmark-based localization methods are used, then pose determination can be achieved in environments with sufficient landmarks, but the method fails or becomes inaccurate in regions with few or no landmarks
Solution Approach 1:
The patent segments the pose determination process into two independent components: landmark-based localization and collision-free region-based localization. This segmentation allows the system to use collision-free regions as an alternative localization method when landmarks are insufficient, thereby improving adaptability to different environments while maintaining reliability through method diversity
Solution Approach 2:
The patent introduces collision-free regions as an intermediary element between the mobile unit and the map for pose determination. Instead of directly relying on landmarks, the system uses collision-free regions extracted from environment images and compares them with passable regions on the map to determine pose, providing a reliable alternative when landmarks are unavailable
2Measurement precision
If landmark matching is performed, then pose can be determined when landmarks are clearly detectable, but the method cannot be carried out when clear matching cannot be achieved
Solution Approach 1:
The patent uses collision-free regions as temporary, easily computable objects for pose determination. These regions are extracted from current environment images and compared with map data, providing a disposable alternative to landmark matching that doesn't require persistent or clearly identifiable landmarks, thus ensuring method execution reliability in challenging situations
Solution Approach 2:
The patent changes the fundamental parameter used for pose determination from landmark features to collision-free region geometry. By comparing the geometric parameters of collision-free regions with passable regions on the map, the system achieves reliable pose determination without depending on landmark detectability or matching clarity
Data Source
AI summary
A method for determining the pose of a mobile unit having at least one sensor device, which is designed to register environment images of the mobile unit, and a map, in which at least one passable region is marked, includes registering at least one environment image by of the at least one sensor device and using the at least one registered environment image to calculate at least one collision-free region, and determining the pose of the mobile unit by a comparison of the at least one calculated collision-free region with the at least one passable region marked on the map. Furthermore, a system for carrying out the method is also described.