Method for adding one or more anchor points to a map of an environment
AssigneeRobert Bosch GmbH
InventorsMarco Lampacrescia, Gerhard Kurz, Matthias Holoch
Life of this patent
Estimating the term…
Abstract
A method for adding one or more anchor points to a map of an environment, wherein a description has been or is in particular associated with the one or more anchor points. The map is based on a SLAM graph. The map is in particular used to navigate a mobile device in the environment. The method includes, for each of the one or more anchor points: providing a position and/or orientation of the anchor point; associating the anchor point with a node in the SLAM graph, in particular a node nearest the anchor point; creating a link between the anchor point and the node; and adding the anchor point to the map of the environment.
Claims14
A method for adding one or more anchor points to a map of an environment, wherein a description has been or is associated with the one or more anchor points, wherein the map is based on a SLAM graph, and wherein the map is used to navigate a mobile device in the environment, the method comprising the following steps:
- for each anchor point of the one or more anchor points:
- providing a position and/or orientation of the anchor point;
- associating the anchor point with a node in the SLAM graph, the node being a node nearest the anchor point, wherein the associating comprises creating a link between the anchor point and the node;
- and
- adding the anchor point to the map of the environment,
- wherein prior to associating the anchor point with the node:
- (i) determining whether a distance between the anchor point and the nearest node satisfies a predetermined proximity criterion;
- and
- (ii) preventing the anchor point from being added to the map when the distance exceeds the predetermined proximity criterion.
A system for data processing, comprising:
- a device configured to add one or more anchor points to a map of an environment, wherein a description has been or is associated with the one or more anchor points, wherein the map is based on a SLAM graph, and wherein the map is used to navigate a mobile device in the environment, the device configured to:
- for each anchor point of the one or more anchor points:
- providing a position and/or orientation of the anchor point;
- associating the anchor point with a node in the SLAM graph, the node being a node nearest the anchor point, wherein the associating comprises creating a link between the anchor point and the node;
- and
- adding the anchor point to the map of the environment,
- wherein prior to associating the anchor point with the node:
- (i) determining whether a distance between the anchor point and the nearest node satisfies a predetermined proximity criterion;
- and
- (ii) preventing the anchor point from being added to the map when the distance exceeds the predetermined proximity criterion.
A mobile device comprising:
- a system including a device configured to add one or more anchor points to a map of an environment, wherein a description has been or is associated with the one or more anchor points, wherein the map is based on a SLAM graph, and wherein the map is used to navigate a mobile device in the environment, the device configured to:
- for each anchor point of the one or more anchor points:
- providing a position and/or orientation of the anchor point;
- associating the anchor point with a node in the SLAM graph, the node being a node nearest the anchor point, wherein the associating comprises creating a link between the anchor point and the node;
- and
- adding the anchor point to the map of the environment;
- determine navigation information for the mobile device, based on the map, and a description for the one or more anchor points on the map;
- and
- navigate based on the navigation information;
- wherein the system includes a control or regulating unit, and a drive unit for moving the mobile device according to the navigation information,
- wherein prior to associating the anchor point with the node:
- (i) determining whether a distance between the anchor point and the nearest node satisfies a predetermined proximity criterion;
- and
- (ii) preventing the anchor point from being added to the map when the distance exceeds the predetermined proximity criterion.
A non-transitory computer-readable storage medium on which is stored a computer program for adding one or more anchor points to a map of an environment, wherein a description has been or is associated with the one or more anchor points, wherein the map is based on a SLAM graph, and wherein the map is used to navigate a mobile device in the environment, the computer program comprising instructions, which, when executed by a computer, causing the computer to perform the following steps:
- for each anchor point of the one or more anchor points:
- providing a position and/or orientation of the anchor point;
- associating the anchor point with a node in the SLAM graph, the node being a node nearest the anchor point, wherein the associating comprises creating a link between the anchor point and the node;
- and
- adding the anchor point to the map of the environment,
- wherein prior to associating the anchor point with the node:
- (i) determining whether a distance between the anchor point and the nearest node satisfies a predetermined proximity criterion;
- and
- (ii) preventing the anchor point from being added to the map when the distance exceeds the predetermined proximity criterion.
Dependencies are inferred from the claim text.