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US 12,769,316 B2Granted
Mapping and simultaneous localisation of an object in an interior environment
AssigneeOrange
InventorsRegis Esnault, Pascal Pagani
Life of this patent
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Abstract
A method for simultaneous localization and mapping of an object in an indoor environment, including autonomous location and mapping. The method includes generating a map of the indoor environment and determining movement of the object on the basis of data captured by the object, the localization and mapping method jointly generating the map and determining the movement. Ambiguity between two positions of an obstacle on a map during generation is thus resolved by taking into account the movement of the object generating the map, without the need for complex implementation elements.
Claims18
A method comprising:
- performing simultaneous localization and mapping of an object in an indoor environment comprising:
- transmitting a polling signal in the indoor environment using a transmitter of the object;
- receiving a response signal in a form of a reflection of the transmitted polling signal using a receiver of the object;
- and
- generating a map of the indoor environment using a localization and mapping device based on the response signal and sensor data from at least one sensor of the object relating to detected movement of the object, the generation of the map and the detection of movement being performed jointly, wherein the map generation at a given instant is a function of the detected movement at the given instant, and comprising discriminating a position of an obstacle on the basis of information relating to the detected movement from among a plurality of positions provided on the basis of the received response signal,
- wherein generating said map comprises weighting a detected obstacle by a probability when a plurality of obstacles are detected at a given time in the response signal, the probability associated with an obstacle being dependent, at the given time, on an amplitude of the received response signal resulting from the obstacle and on the detected movement information;
- and
- navigating the object through the indoor environment using a navigating device based on the generated map.
5 more elements
A non-transitory computer-readable medium comprising a localization and mapping program comprising program code instructions for executing a simultaneous localization and mapping of an object in an indoor environment when said program is executed by a processor of a device, wherein the instructions configure the device to:
- perform simultaneous localization and mapping of an object in an indoor environment comprising:
- transmitting a polling signal in the indoor environment using a transmitter of the object;
- receiving a response signal in response to the transmission of the polling signal using a receiver of the object;
- and
- generating a map of the indoor environment and detect movement of the object both based on the response signal and sensor data from at least one sensor of the object relating to detected movement of the object, the generation of the map and the detection of movement being performed jointly, wherein the map generation at a given instant is a function of the detected movement at the given instant and comprises discriminating a position of an obstacle on the basis of information relating to the detected movement from among a plurality of positions provided on the basis of the received response signal,
- wherein generating said map comprises weighting a detected obstacle by a probability when a plurality of obstacles are detected at a given time in the response signal, the probability associated with an obstacle being dependent, at the given time, on an amplitude of the received response signal resulting from the obstacle and on the detected movement information;
- and
- navigate the object through the indoor environment using a navigating device based on the generated map.
5 more elements
An apparatus comprising:
- a localization and mapping device for simultaneous localization and mapping of an object in an indoor environment, the device comprising:
- a processor;
- and
- a non-transitory computer-readable medium comprising instructions stored thereon which when executed by the processor configure the device to:
- perform simultaneous localization and mapping of an object in an indoor environment comprising:
- transmitting a polling signal in the indoor environment using a transmitter of the object;
- receiving a response signal in response to the transmission of the polling signal using a receiver of the object;
- and
- generating a map of the indoor environment and detect movement of the object both based on the response signal and sensor data from at least one sensor of the object relating to detected movement of the object, the generation of the map and the detection of movement being performed jointly, wherein the map generation at a given instant is a function of the detected movement at the given instant and comprises discriminating a position of an obstacle on the basis of information relating to the detected movement from among a plurality of positions provided on the basis of the received response signal,
- wherein generating said map comprises weighting a detected obstacle by a probability when a plurality of obstacles are detected at a given time in the response signal, the probability associated with an obstacle being dependent, at the given time, on an amplitude of the received response signal resulting from the obstacle and on the detected movement information;
- and
- navigate the object through the indoor environment using a navigating device based on the generated map.
9 more elements
Dependencies are inferred from the claim text.