Machine positioning system utilizing position error checking
AssigneeCaterpillar Inc.
InventorsPaul Russell FRIEND, Qi CHEN, Frank Arthur WILLIS
Life of this patent
Estimating the term…
Abstract
A system and method for estimating position of a machine is disclosed. The method may include receiving, from a perception sensor, scene data describing an environment in a vicinity of the machine and estimating a first position of the machine based on the scene data. The method may include determining whether a first signal indicative of a location of the machine is received by the machine and estimating a second position of the machine when it is determined that the first signal is received. The method may include comparing the second position with the first position and estimating a third position of the machine using at least one of the first position and the second position.
Claims20
A method of estimating position of a machine, comprising:
- receiving, from a perception sensor, scene data describing an environment in a vicinity of the machine;
- estimating a first position of the machine based on the scene data;
- determining whether a first signal indicative of a location of the machine is received by the machine;
- estimating a second position of the machine when it is determined that the first signal is received;
- comparing the second position and the first position;
- and
- estimating a third position of the machine using at least one of the first position and the second position,
- wherein estimating the third position is performed based on a result of the comparison between the second position and the first position.
A system for estimating position of a machine, comprising:
- a perception sensor configured to generate scene data describing an environment in a vicinity of the machine;
- a locating device configured to receive a first signal indicative of a location of the machine;
- and
- a controller in communication with the perception sensor and the locating device, the controller configured to:
- estimate a first position of the machine based on the scene data;
- determine whether the first signal indicative of a location of the machine is received by the machine;
- estimate a second position of the machine when it is determined that the first signal is received;
- compare the second position with the first position;
- and
- estimate a third position of the machine using at least one of the first position and the second position,
- wherein the controller is configured to estimate the third position based on a result of the comparison between the second position and the first position.
A non-transitory computer-readable storage medium storing instructions for enabling a processor to execute a method of estimating position of a machine, the method comprising:
- receiving, from a perception sensor, scene data describing an environment in a vicinity of the machine;
- estimating a first position of the machine based on the scene data;
- determining whether a first signal indicative of a location of the machine is received by the machine;
- estimating a second position of the machine when it is determined that the first signal is received;
- comparing the second position with the first position;
- and
- estimating a third position of the machine using at least one of the first position and the second position,
- wherein estimating the third position is performed based on a result of the comparison between the second position and the first position.
Dependencies are inferred from the claim text.