# US 2017/0254651 A1 · Localization and mapping method and system

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- Number: US 2017/0254651 A1
- Document ID: US20170254651A1
- Status: Published application
- Kind: A1
- Application number: 15/510,374
- Filed: 2015-09-17
- Published: 2017-09-07
- Earliest claimed: 2014-09-17
- Assignees: Valeo Schalter und Sensoren GmbH
- Applicants: VALEO Schalter und Sensoren GmbH
- Inventors: Paulo RESENDE
- Web page: https://patentgrep.com/patent/US20170254651A1

## CPC

- G01C 21/3837: {Data obtained from a single source}
- G01S 17/86: Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
- G05D 1/0248: {in combination with a laser (lasers per se H01S)}
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G01S 7/4808: {Evaluating distance, position or velocity data}
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

The invention relates to a localisation and mapping method used by a mobile vehicle in an environment, said method comprising the following steps: the determination of the type of an object located in an area of the environment, on the basis of the data received from an on-board sensor in the mobile vehicle; and implementation of a localisation algorithm using detection data, without taking into account the detection data relating to said area or said object when the determined type is a type of mobile object.

## Claims

### Claim 1

A localization and mapping method used by a mobile machine in an environment, comprising:
determining, on the basis of data received from a sensor on board the mobile machine, a type of an object located in an area of the environment; and
executing a localization algorithm using detection data, without taking into account the detection data relating to said area or to said object when if the determined type is a mobile object type.

### Claim 2 (depends on 1)

The method as claimed in claim 1, wherein the sensor is a lidar sensor.

### Claim 3 (depends on 2)

The method as claimed in claim 2, wherein said determination is performed by recognition of a shape or a signature in the received data.

### Claim 4 (depends on 1)

The method as claimed in claim 1, wherein the sensor is an image sensor.

### Claim 5 (depends on 4)

The method as claimed in claim 4, wherein said determination is performed by recognition of a shape in at least one image represented by the received data.

### Claim 6 (depends on 1)

The method as claimed in claim 1, wherein the detection data are obtained from the on-board sensor.

### Claim 7 (depends on 1)

The method as claimed in claim 1, wherein the detection data are obtained from another sensor separate from said on-board sensor.

### Claim 8 (depends on 1)

The method as claimed in claim 1, wherein the localization algorithm uses said object as a reference point if the determined type is a fixed object type.

### Claim 9 (depends on 1)

The method as claimed in claim 1, wherein the localization algorithm uses the detection data relating to a given area when no object located in said given area is detected with a type corresponding to a mobile object type.

### Claim 10 (depends on 1)

The method as claimed in claim 1, wherein the localization algorithm that is executed constructs a map of the environment.

### Claim 11 (depends on 10)

The method as claimed in claim 10, further comprising:
saving the constructed map; and
at a later time, loading and re-using the map constructed by the localization algorithm.

### Claim 12

A localization and mapping system to be fitted to a mobile machine in an environment, comprising:
a module for determining, on the basis of data received from a sensor on board the mobile machine, a type of an object located in an area of the environment; and
a localization module configured to localize the mobile machine on the basis of detection data, without taking into account the detection data relating to said area or to said object when if the determined type is a mobile object type.