Method and system for positioning of autonomously operating entities

A positioning system for facilitating positioning of autonomously operating entities, the positioning system comprising:

• at least one processing module;
• and
• a memory having stored therein machine executable instructions, that when executed by the at least one processing module, cause the positioning system to:
• receive a current location of an autonomously operating entity;
• generate a three-dimensional (3D) virtual construct corresponding to the current location by splitting a spatial volume associated with the current location into a plurality of voxels;
• receive spatial data corresponding to the current location generated by at least one sensor associated with the autonomously operating entity;
• using the spatial data, determine an occupancy status of one or more voxels from among the plurality of voxels configuring the 3D virtual construct;
• configure a voxel map from the 3D virtual construct based on the occupancy status of the one or more voxels;
• and
• generate a 3D map by overlaying visual semantic data onto the voxel map, the visual semantic data derived from image frames corresponding to the current location captured by one or more imaging devices associated with the autonomously operating entity, wherein the 3D map is capable of autonomously positioning the autonomously operating entity.

An autonomously operating entity comprising:

• a location determination unit configured to use signals received from one or more navigational satellites to determine a current location of the autonomously operating entity;
• at least one sensor configured to generate spatial data corresponding to the current location;
• one or more imaging devices configured to capture image frames corresponding to the current location;
• and
• a positioning system in operable communication with the location determination unit, the at least one sensor and the one or more imaging devices, the positioning system comprising:
• at least one processing module, and
• a memory having stored therein machine executable instructions, that when executed by the at least one processing module, cause the positioning system to:
• generate a three-dimensional (3D) virtual construct corresponding to the current location by splitting a spatial volume associated with the current location into a plurality of voxels;
• using the spatial data, determine an occupancy status of one or more voxels from among the plurality of voxels configuring the 3D virtual construct;
• configure a voxel map from the 3D virtual construct based on the occupancy status of the one or more voxels;
• generate a 3D map by overlaying visual semantic data onto the voxel map, the visual semantic data derived from the image frames;
• and
• autonomously position the autonomously operating entity using the 3D map.