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 PUSCHINI PASCUAL, Diego, LESECQ, Suzanne, RAKOTOVAO ANDRIAMAHEFA, Tiana, DIA, Roxana, MOTTIN, Julien, MAREAU, Nicolas
Format Patent
LanguageEnglish
Published 29.10.2020
Subjects
CALCULATING
COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS
COMPUTING
CONTROLLING
COUNTING
HANDLING RECORD CARRIERS
IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
PHYSICS
PRESENTATION OF DATA
RECOGNITION OF DATA
RECORD CARRIERS
REGULATING
SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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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.
Bibliography:Application Number: US202016847591