METHOD AND APPARATUS FOR PERFORMING SIMULTANEOUS LOCALIZATION AND MAPPING
A method of performing simultaneous localization of a mobile body and mapping of its environment, includes the steps of: a) defining an occupancy grid (G) on a region of the environment and a pose grid (Π) comprising for the mobile body; b) receiving a first time series of distance measurements (z1,...
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Main Authors | , , , , , |
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Format | Patent |
Language | English |
Published |
29.10.2020
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Subjects | |
Online Access | Get full text |
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Summary: | A method of performing simultaneous localization of a mobile body and mapping of its environment, includes the steps of: a) defining an occupancy grid (G) on a region of the environment and a pose grid (Π) comprising for the mobile body; b) receiving a first time series of distance measurements (z1, z2) and, upon reception of a distance measurement: either b1) updating occupancy probabilities of the occupancy grid; or b2) updating pose probabilities of the pose grid; and c) receiving a second time series of odometry measurements (u1, u2), each of the measurements being representative of a motion of the mobile body in the environment and, upon reception of an odometry measurement, updating the pose probabilities of the pose grid. An apparatus for carrying out such a method is also provided. |
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Bibliography: | Application Number: US202016847591 |