US 2021/0241514 A1 · TECHNIQUES FOR REAL-TIME MAPPING IN A MOVABLE OBJECT ENVIRONMENT

Abstract

Techniques are disclosed for real-time mapping in a movable object environment. A real-time mapping system can include at least one movable object including a computing device, a scanning sensor electronically coupled to the computing device, and a positioning sensor electronically coupled to the computing device. The computing device can include at least one processor and a mapping manager, the mapping manager may be configured to obtain mapping data from the scanning sensor and obtain positioning data from the positioning sensor. The mapping manager can associate the mapping data with the positioning data based at least on time data associated with the mapping data and the positioning data, and then generate a map in a first coordinate system based at least on the associated mapping data and positioning data.

Claims20

Dependent claims

A system for real-time mapping in a movable object environment, comprising:

at least one movable object including a computing device;
a scanning sensor electronically coupled to the computing device;
a positioning sensor electronically coupled to the computing device;
the computing device including at least one processor and a mapping manager, the mapping manager including instructions which, when executed by the processor, cause the mapping manager to:
obtain mapping data from the scanning sensor;
obtain positioning data from the positioning sensor;
associate the mapping data with the positioning data based at least on time data associated with the mapping data and the positioning data;
and
generate a map in a first coordinate system based at least on the associated mapping data and positioning data, the map comprising a plurality of voxels and wherein an occupancy probability threshold value is used to determine whether a voxel includes a point in the map.

6 more elements

A non-transitory computer readable storage medium including instructions stored thereon which, when executed by one or more processors, cause the one or more processors to:

obtain mapping data from a scanning sensor supported by a movable object;
obtain positioning data from a positioning sensor supported by the movable object;
associate the mapping data with the positioning data based at least on time data associated with the mapping data and the positioning data;
and
generate a map in a first coordinate system based at least on the associated mapping data and positioning data, the map comprising a plurality of voxels and wherein an occupancy probability threshold value is used to determine whether a voxel includes a point in the map.

2 more elements

Dependencies are inferred from the claim text.

Techniques for real-time mapping in a movable object environment

Life of this patent

Techniques for real-time mapping in a movable object environment

Life of this patent

Abstract

Claims20