SYSTEMS AND METHODS FOR LOCALIZATION AND MAPPING USING LANDMARKS DETECTED BY A MEASUREMENT DEVICE
First Claim
1. An apparatus for mapping an environment having a plurality of reference landmarks, comprising:
- a first measurement device configured to generate range and azimuth data for each of the plurality of reference landmarks;
a processor coupled to the measurement device; and
memory coupled to the processor, the memory comprising a map module storing data representing a map of the environment including known coordinates for the plurality of reference landmarks.
1 Assignment
0 Petitions
Accused Products
Abstract
Systems and methods for localization and mapping an environment using a measurement device are provided. One system includes a vehicle, first and second measurement devices configured to generate range/azimuth data for reference landmarks in the environment, a processor, and memory. The memory includes a map module storing data representing a map of the environment including known coordinates for the plurality of reference landmarks. One method includes generating a map of the environment based on known coordinates for each of the plurality of reference landmarks, receiving range and azimuth data for each of a plurality of candidate reference landmarks from a measurement device, and identifying each of the plurality of reference landmarks in the plurality of candidate reference landmark. The method further includes associating the plurality of candidate reference landmarks with the plurality of reference landmarks in the map and localizing a mobile platform based on the associating step.
-
Citations
20 Claims
-
1. An apparatus for mapping an environment having a plurality of reference landmarks, comprising:
-
a first measurement device configured to generate range and azimuth data for each of the plurality of reference landmarks; a processor coupled to the measurement device; and memory coupled to the processor, the memory comprising a map module storing data representing a map of the environment including known coordinates for the plurality of reference landmarks. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A system for mapping an environment having a plurality of reference landmarks, comprising:
-
a mobile platform; a first measurement device coupled to the mobile platform and configured to generate range and azimuth data for the plurality of reference landmarks; a second measurement device coupled to the mobile platform and configured to generate range and azimuth data for the plurality of reference landmarks; a processor coupled to the first and second measurement devices; and memory coupled to the processor, the memory comprising a map module storing data representing a map of the environment including known coordinates for the plurality of reference landmarks. - View Dependent Claims (10, 11, 12, 13, 14, 15)
-
-
16. A method for localizing a mobile platform in an environment having a plurality of reference landmarks, the method comprising the steps of:
-
generating a map of the environment based on known coordinates for each of the plurality of reference landmarks; receiving range and azimuth data for each of a plurality of candidate reference landmarks from a measurement device; identifying each of the plurality of reference landmarks in the plurality of candidate reference landmark; associating the plurality of candidate reference landmarks with the plurality of reference landmarks in the map; and localizing a mobile platform based on the associating step. - View Dependent Claims (17, 18, 19, 20)
-
Specification