METHOD FOR SIMULTANEOUS LOCALIZATION AND MAPPING AND MOBILE PLATFORM USING THE SAME

• Main Authors: KUO, Chia-Jui, CHEN, Shui-Shih, SU, Chun-Hsiang
• Format: Patent
• Language: English
• Published: 07.07.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

Disclosed are a method for simultaneous localization and mapping and a mobile platform using the same. The method for simultaneous localization and mapping is applied to the mobile platform, and includes: continuously collecting and storing odometer data and environment sensing data of the mobile platform when the mobile platform moves based on a motion trajectory; combining a certain amount of the odometer data and the environmental sensing data to obtain environmental information whenever the certain amount of odometer data and environmental sensing data is reached and stored; performing a simultaneous localization and mapping procedure according to a current map and the odometer data and environmental information continuously obtained; repeating the above steps until the mobile platform completes the motion according to the motion trajectory. Therefore, the mobile platform can synthesize the environmental information similar to sensing data of the lidar while moving without installing a high-cost lidar.