SLAM Map Coordinate Conversion for Geographic Position Mapping
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Solution Overview
Problem
The challenge is that geographic positions expressed in a geographic coordinate system cannot be accurately mapped onto environmental maps created using SLAM technology, which uses a Euclidean coordinate system, leading to inaccuracies in displaying visual information at real-world positions.
Innovation Solution
A mapping apparatus and method that associates environmental map data with both Euclidean and geographic coordinate systems, allowing for accurate mapping and display of geographic positions on environmental maps, using a tracker to estimate positions and convert between coordinate systems, and a program to execute these processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If SLAM technology is used to create environmental maps with Euclidean coordinate system, then position estimation accuracy is improved, but compatibility with geographic coordinate system is worsened
Solution Approach 1:
The patent introduces a coordinate conversion unit as an intermediary component that transforms positions between Euclidean and geographic coordinate systems. This mediator enables the SLAM-generated environmental map to be compatible with map service data while preserving the measurement precision of the original SLAM position estimation.
Solution Approach 2:
The patent changes the parameter representation by converting position parameters from Euclidean coordinates (x, y, z) to geographic coordinates (latitude, longitude, altitude) through coordinate transformation. This parameter change allows the same position data to be used in both SLAM processing and map service integration without losing accuracy.
2Adaptability or versatility
If geographic positions are directly mapped onto environmental maps, then integration with map services is improved, but mapping accuracy is worsened
Solution Approach 1:
The coordinate conversion unit serves as a mediator that processes geographic position data from map services and transforms it into Euclidean coordinates compatible with the environmental map. This ensures that map service integration does not compromise the mapping accuracy achieved through SLAM.
Solution Approach 2:
The system performs preliminary coordinate conversion of map service positions into the environmental map's coordinate system before actually mapping them. This preliminary action ensures that the mapping accuracy is maintained from the outset, rather than attempting to correct inaccuracies after mapping occurs.
3Measurement precision
If coordinate conversion is performed for each target position, then mapping precision is improved, but processing time is worsened
Solution Approach 1:
The system pre-establishes the coordinate conversion relationship between Euclidean and geographic coordinate systems during environmental map generation. This preliminary setup allows for rapid position conversion during actual mapping operations, reducing processing time while maintaining precision.
Solution Approach 2:
The patent uses pre-computed conversion parameters and cached coordinate transformation data to quickly map target positions without performing complex real-time calculations. This copying of conversion information enables fast processing while preserving mapping precision.
Data Source
AI summary
Provided are a mapping apparatus, a tracker, a mapping method, and a program that can accurately map a given geographic position on an environmental map. An environmental map data storing unit (80) stores environmental map data indicating an environmental map in which a position expressed by a Euclidean coordinate system is associated with a position expressed by a geographic coordinate system. A SLAM processing executing unit (84) estimates, on the basis of sensing data acquired by a tracker and the environmental map data, a position of the tracker (12) expressed by the Euclidean coordinate system. A target position data acquiring unit (88) acquires target position data indicating a target position expressed by the geographic coordinate system. A coordinate converting unit (90) identifies the target position expressed by the Euclidean coordinate system based on the target position data and the environmental map data.