Voxel-Based Local Map Updating for Dynamic Positioning
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Solution Overview
Problem
Existing map updating methods for electronic devices in dynamic environments are resource-intensive and inefficient, leading to reduced positioning accuracy due to environmental changes and incorrect coverage of fixed features.
Innovation Solution
A local map updating method that involves acquiring key-frame point cloud data, matching it with a prior map to determine target voxels, and updating the point cloud probability distribution based on first and second map coordinate points, reducing the need for global map updates and conserving computing resources.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If global map updating is performed to maintain positioning accuracy in dynamic environments, then positioning accuracy is improved, but computing resource consumption increases and updating efficiency decreases
Solution Approach 1:
The patent segments the map updating process by dividing the environment into multiple voxels and identifying only those voxels that contain variable objects require updating. This selective approach avoids the computational overhead of global map updates while maintaining positioning accuracy in dynamic environments.
Solution Approach 2:
The patent applies local quality by performing map updating only in specific local regions (voxels containing variable objects) rather than uniformly across the entire map. This allows the system to maintain high positioning accuracy where needed while conserving computing resources in static regions.
2Reliability
If frequent map updates are performed to track environmental changes, then map accuracy is improved, but computing resource consumption increases
Solution Approach 1:
The patent performs partial action by updating only the necessary portions of the map (voxels with variable objects) rather than performing excessive full-map updates. This maintains map accuracy while significantly reducing computing resource consumption and energy usage.
Solution Approach 2:
The system uses the electronic device's own sensor data and current positioning information to automatically identify which map regions require updating, eliminating the need for external control or manual intervention in the map updating process.
3Measurement precision
If comprehensive map updating is performed to capture all environmental changes, then environment matching accuracy is improved, but updating time increases
Solution Approach 1:
The patent segments the updating process to focus only on relevant voxels containing variable objects, thereby reducing updating time while maintaining environment matching accuracy through selective updates of critical regions.
Solution Approach 2:
The system performs preliminary identification of variable objects and their corresponding voxels before executing the updating process. This preliminary action allows the system to prepare and execute updates more efficiently, reducing overall updating time while maintaining accuracy.
Data Source
AI summary
Embodiments of the present application disclose a local map updating method and apparatus, and an electronic device, including: acquiring key-frame point cloud data, where the key-frame point cloud data includes point cloud coordinate points; matching the key-frame point cloud data with a prior map to determine target voxels, in the prior map, corresponding to the point cloud coordinate points; and updating a point cloud probability distribution corresponding to each target voxel according to a first map coordinate point and a second map coordinate point included in each target voxel to obtain a target map, where the first map coordinate point is obtained by converting the point cloud coordinate point corresponding to the target voxel, and the second map coordinate point is a coordinate point included in the target voxel in the prior map.