SLAM Particle Scattering Limits for Precise Map Creation
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Solution Overview
Problem
Current methods for simultaneous localization and mapping (SLAM) in automatically movable devices are computationally intensive due to the need for recalculating Gaussian distributions for each particle scattering process, leading to increased computational effort and potential inaccuracies in localization, especially when the number of particles is high.
Innovation Solution
Restricting particle scattering to a limited range defined by the travel direction and speed of the device, approximating the discrete particle distribution to a Gaussian distribution, and using a selection algorithm to determine the new device location based on measurement results from optical units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the number of particles is increased to improve localization accuracy, then measurement precision improves, but computational effort increases significantly
Solution Approach 1:
The patent segments the particle scattering process into two distinct phases: a first scattering process that generates an initial set of particles, and a second scattering process that generates a reduced set of particles. This segmentation allows the system to maintain localization accuracy while reducing the computational burden of processing excessive particles.
Solution Approach 2:
The patent applies partial action by performing scattering operations only twice (first and second scattering processes) rather than continuously recalculating Gaussian distributions for every particle. This partial application of the scattering operation significantly reduces computational effort while maintaining sufficient localization precision.
2Measurement precision
If Gaussian distribution recalculation is performed for each particle scattering process, then localization accuracy is maintained, but computational complexity increases
Solution Approach 1:
The patent performs Gaussian distribution recalculation only twice - once for the first particle scattering process and once for the second particle scattering process - rather than recalculating for every particle or continuously. This partial application maintains localization accuracy while dramatically reducing computational complexity.
Solution Approach 2:
The patent performs the first particle scattering process and first Gaussian distribution recalculation in advance before the second scattering process. This preliminary action prepares the particle set optimally for the second scattering, ensuring accurate localization while avoiding redundant calculations during the second phase.
3Reliability
If the particle scattering range is expanded to cover all possible positions, then localization reliability improves, but computational effort increases
Solution Approach 1:
The patent segments the particle scattering range into two phases: the first scattering process uses a broader range to ensure comprehensive coverage and reliability, while the second scattering process uses a reduced range that focuses computational effort on the most probable positions. This segmentation maintains localization reliability while reducing overall computational effort.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach significantly reduces computational effort and improves localization precision by limiting the number of particles and focusing calculations on a restricted scattering area, enhancing the efficiency and accuracy of self-localization and map formation.
Implementation Method 1
Such a system can be used to measure distances based on reflections
Implementation Method 2
for example in the form of an optical triangulation system
Data Source
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AI summary
The method involves computing positions and alignments of particles (6) based on previously computed position of an automatic movable apparatus. One of the particles is assumed as a new location of the automatic movable apparatus according to movement of the apparatus with respect to one position depending on measurement results of optical units. The computation of the particles is limited regarding solid angle (alpha) determined by preset moving direction (r) and moving width and/or speed of the apparatus and a spacing region (a).