Localising transportable apparatus
AssigneeThe Chancellor, Masters and Scholars of the University of Oxford
InventorsIan Alan Baldwin, Paul Michael Newman
Life of this patent
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Abstract
A method of localising transportable apparatus (100) within an environment including receiving (402) data obtained from a ranging sensor device (102) of the transportable apparatus configured to collect information relating to at least a surface (120) over which the transportable apparatus is moving in an environment, and using (404) the ranging sensor device data to generate a new 3D point cloud (110) of the environment. The method further obtains (406) data representing an existing 3D point cloud (114) of at least part of the environment, and seeks to match (408) the new 3D point cloud with, or within, the existing 3D point cloud in order to localise the transportable apparatus with respect to the existing point cloud.
Claims21
A method of localising transportable apparatus within an environment, the method including:
- receiving data obtained from a ranging sensor device of the transportable apparatus configured to collect information relating to at least a surface over which the transportable apparatus is moving in an environment;
- using the ranging sensor device data to generate a new 3D point cloud of the environment;
- obtaining data representing an existing 3D point cloud of at least part of the environment;
- and
- seeking to match the new 3D point cloud with, or within, the existing 3D point cloud in order to localise the transportable apparatus with respect to the existing point cloud.
(canceled)
A non-transient computer program product composing computer code that when executed by one or more processors causes a process for localizing a vehicle along a route to be carried out, the process comprising:
- receiving data obtained from a ranging sensor device of the transportable apparatus configured to collect information relating to at least a surface over which the transportable apparatus is moving in an environment;
- using the ranging sensor device data to generate a new 3D point cloud of the environment;
- obtaining data representing an existing 3D point cloud of at least part of the environment;
- and
- seeking to match the new 3D point cloud with, or within, the existing 3D point cloud in order to localise the transportable apparatus with respect to the existing point cloud.
Dependencies are inferred from the claim text.