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US 11,378,407 B2Granted
Electronic apparatus and method for implementing simultaneous localization and mapping (SLAM)
AssigneesLG Electronics Inc., Korea Advanced Institute of Science and Technology
InventorsKyeongjin Jeon, Hyukjung Lee, Joohwan Chun, Sungjoo Kim
Life of this patent
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Abstract
The present disclosure relates to a method of selecting representative measurements from among measurements related to an environment around a movable object and determining whether the representative measurements are associated with landmarks to realize SLAM and an electronic apparatus for the same. One or more of an electronic apparatus, a vehicle, and an autonomous vehicle of the present disclosure may be connected to, for example, an artificial intelligence module, an unmanned aerial vehicle (UAV), a robot, an augmented reality (AR) device, a virtual reality (VR) device, or a 5G service device.
Claims12
A method for Simultaneous Localization and Mapping (SLAM), the method comprising:
- acquiring, through a sensor of a movable object, a plurality of measurements associated with an environment surrounding the movable object, the plurality of measurements corresponding to a plurality of points within the environment;
- selecting one or more representative measurements from the plurality of measurements according to a predetermined criterion;
- determining whether the one or more representative measurements are associated with one or more pre-recognized landmarks;
- and
- based on the determination of whether the one or more representative measurements are associated with the one or more pre-recognized landmarks, updating SLAM state information,
- wherein the determining of whether the one or more representative measurements are associated with one or more pre-recognized landmarks comprises:
- selecting a preset number of representative landmarks from the one or more pre-recognized landmarks based on respective Euclidean distances between one or more points corresponding to the one or more representative measurements and the one or more pre-recognized landmarks;
- and
- determining whether the one or more representative measurements are associated with the selected representative landmarks,
- wherein the determining of whether the one or more representative measurements are associated with the selected representative landmarks comprises:
- calculating Mahalanobis distances between one of the one or more representative measurements and the selected representative landmarks;
- based on the calculated Mahalanobis distances, determining that the one of the one or more representative measurements is not associated with the selected representative landmarks;
- determining that a signal to noise ratio (SNR) of the one of the one or more representative measurements is higher than a predetermined threshold, and
- based on the determination that (1) the one of the one or more representative measurements is not associated with the selected representative landmarks and (2) the SNR of the one of the one or more representative measurements is higher than the predetermined threshold, determining that the one of the one or more representative measurements is a new landmark.
11 more elements
An apparatus implementing Simultaneous Localization and Mapping (SLAM), the apparatus comprising:
- at least one processor;
- and
- a non-volatile computer-readable medium coupled to the at least one processor having stored thereon instructions which, when executed by the at least one processor, causes the at least one processor to perform operations comprising:
- acquiring, through a sensor of a movable object, a plurality of measurements associated with an environment surrounding the movable object, the plurality of measurements corresponding to a plurality of points within the environment;
- selecting one or more representative measurements from the plurality of measurements according to a predetermined criterion;
- determining whether the one or more representative measurements are associated with one or more pre-recognized landmarks;
- and
- based on the determination of whether the one or more representative measurements are associated with the one or more pre-recognized landmarks, updating SLAM state information,
- wherein the determining of whether the one or more representative measurements are associated with one or more pre-recognized landmarks comprises:
- selecting a preset number of representative landmarks from the one or more pre-recognized landmarks based on respective Euclidean distances between one or more points corresponding to the one or more representative measurements and the one or more pre-recognized landmarks;
- and
- determining whether the one or more representative measurements are associated with the selected representative landmarks,
- wherein the determining of whether the one or more representative measurements are associated with the selected representative landmarks comprises:
- calculating Mahalanobis distances between one of the one or more representative measurements and the selected representative landmarks;
- based on the calculated Mahalanobis distances, determining that the one of the one or more representative measurements is not associated with the selected representative landmarks;
- determining that a signal to noise ratio (SNR) of the one of the one or more representative measurements is higher than a predetermined threshold;
- and
- based on the determination that (1) the one of the one or more representative measurements is not associated with the selected representative landmarks and (2) the SNR of the one of the one or more representative measurements is higher than the predetermined threshold, determining that the one of the one or more representative measurements is a new landmark.
15 more elements
Dependencies are inferred from the claim text.