USE OF COST MAPS AND CONVERGENCE MAPS FOR LOCALIZATION AND MAPPING
A method for ascertaining features in an environment of at least one mobile unit for implementation of a localization and/or mapping by a control unit. In the course of the method, sensor measurement data of the environment are received, the sensor measurement data received are transformed by an ali...
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Main Authors | , , |
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Format | Patent |
Language | English |
Published |
06.05.2021
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Subjects | |
Online Access | Get full text |
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Summary: | A method for ascertaining features in an environment of at least one mobile unit for implementation of a localization and/or mapping by a control unit. In the course of the method, sensor measurement data of the environment are received, the sensor measurement data received are transformed by an alignment algorithm into a cost function and a cost map is generated with the aid of the cost function, a convergence map is generated based on the alignment algorithm. At least one feature is extracted from the cost map and/or the convergence map and stored, the at least one feature being provided in order to optimize a localization and/or mapping. A control unit, a computer program, and a machine-readable storage medium are also described. |
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Bibliography: | Application Number: US202017075514 |