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US 11,536,572 B2Granted
Method and system for accurate long term simultaneous localization and mapping with absolute orientation sensing
AssigneeThe Texas A&M University System
InventorsSaurav Agarwal, Suman Chakravorty
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Abstract
Described herein are embodiments of a method and system that uses a vertical or upward facing imaging sensor to compute vehicle attitude, orientation, or heading and combines the computed vehicle attitude, orientation, or heading with range bearing measurements from an imaging sensor, LiDAR, sonar, etc., to features in the vicinity of the vehicle to compute accurate position and map estimates.
Claims21
An electronic mapping system comprising:
- an upward facing sensor oriented to capture data in a direction perpendicular to a surface upon which the electronic mapping system travels;
- a range bearing sensor;
- and
- a processor in communication with the upward facing sensor and the range bearing sensor, the processor configured to:
- determine an absolute orientation estimate of the electronic mapping system based upon first data received from the upward facing sensor, wherein the first data is indicative of a line feature of a building structure;
- determine a location of local landmarks based upon second data received from the range bearing sensor;
- determine a relative orientation estimate based on the location of the local landmarks;
- fuse, using a Kalman filter, the absolute orientation estimate and the relative orientation estimate;
- determine a location of the electronic mapping system based upon a result of the fuse of the absolute orientation estimate and the relative orientation estimate, and
- create a new map of the building structure based only on the first data from the upward facing sensor and the second data from the range bearing sensor.
7 more elements
An autonomous vehicle comprising:
- an upward facing sensor oriented to capture data in a direction perpendicular to a surface upon which the autonomous vehicle travels;
- a range bearing sensor;
- and
- an electronic mapping system in communication with the upward facing sensor and the range bearing sensor, the electronic mapping system comprising a processor configured to:
- determine an absolute orientation estimate of the autonomous vehicle based upon first data received from the upward facing sensor, wherein the first data is indicative of a line feature of a building structure;
- determine a location of local landmarks based upon second data received from the range bearing sensor;
- determine a relative orientation estimate based on the location of the local landmarks;
- fuse, using a Kalman filter, the absolute orientation estimate and the relative orientation estimate;
- determine a location of the autonomous vehicle based upon a result of the fuse of the absolute orientation estimate and the relative orientation estimate;
- and
- create a new map of the building structure based only on the first data from the upward facing sensor and the second data from the range bearing sensor.
8 more elements
A method for mapping implemented by an electronic mapping system, the method comprising:
- determining an absolute orientation of the electronic mapping system based upon first data received from an upward facing sensor oriented to capture data in a direction perpendicular to a surface upon which the electronic mapping system travels, wherein the first data is indicative of a line feature of a building structure;
- determining a location of local landmarks based upon second data received from a range bearing sensor;
- determining a relative orientation estimate based on the location of the local landmarks;
- fusing, using a Kalman filter, the absolute orientation estimate and the relative orientation estimate;
- determining a location of the electronic mapping system based upon a result of fusing the absolute orientation estimate and the relative orientation estimate;
- and
- creating a new map of the building structure based only on the first data from the upward facing sensor and the second data from the range bearing sensor.
4 more elements
Dependencies are inferred from the claim text.