SLAM Map Anchor Point Linking for Automatic Position Updates
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
SLAM graphs used for mobile device navigation often require updating anchor points and their descriptions, which can be challenging, especially during map updates or fusion, as existing methods lack efficient mechanisms for maintaining accurate anchor point positions and orientations.
Innovation Solution
A method for adding and updating anchor points in a SLAM graph-based map, where anchor points are automatically updated along with the graph, with their positions and orientations linked to nodes, and unique identifiers assigned for distinct identification, ensuring consistent navigation information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If anchor points are manually updated during SLAM graph updates, then map accuracy is maintained, but time consumption and operational complexity increase
Solution Approach 1:
The system automatically updates anchor point positions and orientations by associating them with SLAM graph nodes. When the SLAM graph undergoes updates (such as loop closures or new landmark detections), the anchored descriptions self-update through their association with the underlying nodes, eliminating the need for manual intervention and reducing time consumption while maintaining accuracy.
Solution Approach 2:
The system establishes a feedback mechanism where anchor points are continuously tracked through their association with SLAM graph nodes. As the SLAM system processes new sensor data and updates the graph, this feedback loop automatically adjusts anchor point positions and orientations to reflect current environmental understanding, ensuring accuracy without manual updates.
2Extent of automation
If anchor points are associated with SLAM graph nodes, then automatic updating is enabled, but system complexity increases
Solution Approach 1:
The system merges the anchor point management functionality with the existing SLAM graph structure by associating anchor points with nodes. This integration allows the same data structures and update mechanisms used for SLAM graph nodes to automatically handle anchor points, achieving automation without proportionally increasing system complexity.
Solution Approach 2:
The SLAM graph nodes serve multiple functions: they represent environmental features for navigation and simultaneously serve as anchors for descriptions. This multi-functionality allows the system to achieve automatic anchor point updating using the existing node-update infrastructure, avoiding the need for separate complex update mechanisms.
3Measurement precision
If multiple anchor points are added to define areas, then navigation precision is improved, but data processing complexity increases
Solution Approach 1:
The system segments the environment into multiple anchor points, each associated with a SLAM graph node. By dividing the navigation space into discrete anchored locations, the system achieves high navigation precision through multiple reference points while managing complexity through the modular node-based structure of the SLAM graph.
Data Source
AI summary
A method for adding one or more anchor points to a map of an environment, wherein a description has been or is in particular associated with the one or more anchor points. The map is based on a SLAM graph. The map is in particular used to navigate a mobile device in the environment. The method includes, for each of the one or more anchor points: providing a position and/or orientation of the anchor point; associating the anchor point with a node in the SLAM graph, in particular a node nearest the anchor point; creating a link between the anchor point and the node; and adding the anchor point to the map of the environment.