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US 2010/0148977 A1Published application
Localization and detection system applying sensors and method thereof
AssigneeIndustrial Technology Research Institute
InventorsKuo-Shih Tseng, Chih-Wei Tang, Chin-Lung Lee, Chia-Lin Kuo, An-Tao Yang
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Abstract
In embodiments of the invention, multiple sensors, which are complementary, are used in localization and mapping. Besides, in detecting and tracking dynamic object, the sense results of sensing the dynamic object by the multiple sensors are cross-compared, to detect the location of the dynamic object and to track the dynamic object.
Claims15
A sensing system, comprising:
- a carrier;
- a multiple-sensor module, disposed on the carrier, the multiple-sensor module sensing a plurality of complementary characteristics, the multiple-sensor module sensing the carrier to obtain a carrier information, the multiple-sensor module further sensing a feature object to obtain a feature object information;
- a controller, receiving the carrier information and the feature object information transmitted from the multiple-sensor module;
- and
- a display unit, providing a response signal under control of the controller;
- wherein the controller executes at least one of:
- localizing the carrier on a mapping, adding the feature object into the mapping, and updating the feature object in the mapping;
- and
- predicting a moving distance of the feature object according to the feature object information, so as to determine whether the feature object is known, and correcting the mapping and adding the feature object into the mapping accordingly.
6 more elements
A sensing method of localization and mapping for a carrier, comprising:
- executing a first sensing step to sense the carrier and obtain a carrier information;
- executing a second sensing step to sense a feature object and obtain a feature object information, wherein the second sensing step senses a plurality of complementary characteristics;
- analyzing the carrier information to obtain a location and a state of the carrier, and localizing the carrier in a mapping;
- analyzing the feature object information to obtain a location and a state of the feature object;
- and
- comparing the mapping with the location and the state of the feature object, so as to add the location and the state of the feature object into the mapping and update the location and the state of the feature object in the mapping.
3 more elements
A sensing method of detecting and tracking for a dynamic object, comprising:
- executing a first sensing step to sense the dynamic object and obtain its first moving distance;
- executing a second sensing step to sense the dynamic object and obtain its second moving distance, wherein the first sensing step and the second sensing step are complementary with each other;
- analyzing the first moving distance and the second moving distance to predict a relative distance between the carrier and the dynamic object;
- determining whether the dynamic object is known;
- if the dynamic object is known, correcting a state of the dynamic object in a mapping, and detecting and tracking the dynamic object;
- and
- if the dynamic object is unknown, adding the dynamic object and its state into the mapping, and detecting and tracking the dynamic object.
4 more elements
Dependencies are inferred from the claim text.