Generation of map data
First Claim
1. A method for generating cartographic data, in which at least one mobile device has a processor, means of displacement, and a measurement instrument designed to measure distances between a current position of the mobile device and obstacles in an environment of the mobile device, the method comprising the steps:
- a) performing, by the measurement instrument, at least N measurements of distances between the mobile device and obstacles in said environment, by successive angular intervals of A/N each, where A is a predetermined angular sector that defines at least partially said environment of the mobile device, and associating said distances with the respective angular intervals in a work memory of the mobile device by the processor, to establish map data of a map,b) displacing the mobile device using the means of displacement and repeating step a) for a new current position of the mobile device, andc) simultaneously i) determining, by the processor, as a function of the distances measured for each angular interval of the current position of step b) and of the previous position of step a), the current position of the mobile device in step b), on said map, with respect to its initial position in step a), and ii) generating, by the processor, new map data of said map as a function of the distances measured for each angular interval of the current position of step b) and of the previous position of step a),wherein step c) includes;
estimating, by the processor, a function of global distance between the mobile device and the obstacles with respect to the map determined in step a) by a sum of Euclidian distances between each obstacle point determined in step a) and a neighboring point detected as an obstacle in step b), anddetermining, by the processor, a local minimum of said global distance function that corresponds to the current position of the mobile device in step b).
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Accused Products
Abstract
A measurement instrument, i.e. a mobile body, measures distances between a current position of the mobile body and obstacles in the environment of the mobile body by: a) taking at least N measurements of distances between the mobile body and the obstacles, by consecutive angular steps of A/N (A is a predetermined angular sector), and combining the distances with the respective angular steps in order to establish map data; b) moving the mobile body and repeating step a) for a new current position of the mobile body; and c) simultaneously determining, according to the distances measured for each angular step of the current position of step b) and the preceding position of step a), the current position of the mobile body in step b) on the map relative to the initial position thereof in step a), and new data of the map.
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Citations
10 Claims
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1. A method for generating cartographic data, in which at least one mobile device has a processor, means of displacement, and a measurement instrument designed to measure distances between a current position of the mobile device and obstacles in an environment of the mobile device, the method comprising the steps:
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a) performing, by the measurement instrument, at least N measurements of distances between the mobile device and obstacles in said environment, by successive angular intervals of A/N each, where A is a predetermined angular sector that defines at least partially said environment of the mobile device, and associating said distances with the respective angular intervals in a work memory of the mobile device by the processor, to establish map data of a map, b) displacing the mobile device using the means of displacement and repeating step a) for a new current position of the mobile device, and c) simultaneously i) determining, by the processor, as a function of the distances measured for each angular interval of the current position of step b) and of the previous position of step a), the current position of the mobile device in step b), on said map, with respect to its initial position in step a), and ii) generating, by the processor, new map data of said map as a function of the distances measured for each angular interval of the current position of step b) and of the previous position of step a), wherein step c) includes; estimating, by the processor, a function of global distance between the mobile device and the obstacles with respect to the map determined in step a) by a sum of Euclidian distances between each obstacle point determined in step a) and a neighboring point detected as an obstacle in step b), and determining, by the processor, a local minimum of said global distance function that corresponds to the current position of the mobile device in step b). - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification