Aligning measured signal data with slam localization data and uses thereof
AssigneeKaarta, Inc.
InventorsJi Zhang, Kevin Joseph Dowling
Life of this patent
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Abstract
A method includes retrieving a map of a 3D geometry of an environment the map including a plurality of non-spatial attribute values each corresponding to one of a plurality of non-spatial attributes and indicative of a plurality of non-spatial sensor readings acquired throughout the environment, receiving a plurality of sensor readings from a device within the environment wherein each of the sensor readings corresponds to at least one of the non-spatial attributes and matching the plurality of received sensor readings to at least one location in the map to produce a determined sensor location.
Claims21
A method comprising:
- obtaining a map of a 3D geometry of an environment;
- receiving a plurality of sensor readings from a device within the environment wherein each of the sensor readings corresponds to at least one non-spatial attribute of a location within the environment;
- and
- matching the plurality of received sensor readings to a representative corresponding location in the map to produce a resulting map of 3D aspects of the environment, the map comprising at least on non-spatial attribute value for each non-spatial attribute at the corresponding location within the environment,
- wherein the matching comprises utilizing a plurality of lower resolution sensor readings to determine an approximate sensor location and utilizing a plurality of higher resolution sensor readings to determine a determined sensor location.
A system comprising:
- a device comprising at least one sensor the device adapted to receive a plurality of sensor readings within an environment wherein each of the sensor readings corresponds to at least one non-spatial attribute;
- and
- a processor adapted to obtain a map of a 3D geometry of the environment, the map comprising a plurality of non-spatial attribute values each corresponding to one of a plurality of non-spatial attributes and indicative of a plurality of non-spatial sensor readings acquired throughout the environment, wherein the processor is further adapted to match the plurality of received sensor readings to at least one location in the map,
- wherein the matching comprises utilizing a plurality of lower resolution sensor readings to determine an approximate sensor location and utilizing a plurality of higher resolution sensor readings to determine a determined sensor location.
A method comprising:
- accessing a map comprising a point cloud of an environment comprising a plurality of non-spatial attribute values;
- receiving, for each of a plurality of non-spatial attributes, a plurality of non-spatial sensor readings within the environment;
- and
- referencing the received plurality of non-spatial sensor readings to the map resulting in a referenced map,
- wherein the referencing comprises utilizing a plurality of lower resolution sensor readings to determine an approximate sensor location and utilizing a plurality of higher resolution sensor readings to determine a determined sensor location.
Dependencies are inferred from the claim text.