US 9,310,807 B2 · Method and system for creating indoor environment map

Abstract

A method of creating an indoor environment map includes acquiring encoded position information by detecting revolutions of wheels when a mobile unit travels using encoders to predict a position of the mobile unit based on the encoded position information, acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor, predicting a position of the mobile unit to be moved, estimating a distance from the mobile unit to the object at the predicted position of the mobile unit, determining whether the estimated distance is matched with the measured distance, correcting the predicted position of the mobile unit to estimate a position of the mobile unit to be moved by the matching of the predicted position with the measured position, and creating the indoor environment map using the corrected position and the measured distance.

Claims14

Dependent claims

A system for creating an indoor environment map, comprising:

a mobile unit, having wheels to freely travel, the mobile unit having a distance measuring beam sensor and a plurality of encoders mounted to the corresponding wheels, the mobile unit acquiring encoded information by detecting revolutions of the wheels using the plurality of encoders when the mobile unit travels, the mobile unit measuring a distance from the mobile unit to an object existing in a surrounding environment using the distance measuring beam sensor when the mobile unit travels;
a position prediction unit predicting a position of the mobile unit based on the encoded information and determining whether or not to correct the position of the mobile unit by applying an extended Kalman filter;
and
wherein the position of the mobile unit is corrected manually by using the measured distance when an extended Kalman filter is not applied;
map creating unit creating the indoor environment map using the corrected position of the mobile unit.

2 more elements

A method of creating an indoor environment map comprising:

providing a mobile unit designed to freely travel by employing a plurality of wheels, the mobile unit having a distance measuring beam sensor and a plurality of encoders mounted to the corresponding wheels;
acquiring encoded information by detecting revolutions of the wheels using the encoders when the mobile unit travels;
measuring a distance from the mobile unit to an object existing in a surrounding environment using the distance measuring beam sensor when the mobile unit travels;
predicting a position of the mobile unit based on the encoded information and determining whether or not to correct the position of the mobile unit by applying an extended Kalman filter;
correcting the position of the mobile unit manually by using the measured distance when an extended Kalman filter is not applied;
and
creating the indoor environment map using the corrected position of the mobile unit.

4 more elements

Dependencies are inferred from the claim text.

Method and system for creating indoor environment map

Life of this patent

Method and system for creating indoor environment map

Life of this patent

Abstract

Claims14