METHOD AND SYSTEM FOR CREATING INDOOR ENVIRONMENT MAP
First Claim
1. A method of creating an indoor environment map using a mobile unit designed to freely travel by employing a plurality of wheels, the mobile unit having a distance measuring sensor and a plurality of encoders mounted to the corresponding wheels, the method comprising:
- acquiring encoded position information by detecting revolutions of the wheels using the encoders to predict a position of the mobile unit based on the encoded position information when the mobile unit travels;
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 or not 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.
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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.
37 Citations
16 Claims
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1. A method of creating an indoor environment map using a mobile unit designed to freely travel by employing a plurality of wheels, the mobile unit having a distance measuring sensor and a plurality of encoders mounted to the corresponding wheels, the method comprising:
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acquiring encoded position information by detecting revolutions of the wheels using the encoders to predict a position of the mobile unit based on the encoded position information when the mobile unit travels; 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 or not 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for creating an indoor map comprising:
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a mobile unit having wheels to freely travel indoors for acquiring a measured distance from the mobile unit to an object existing in a surrounding environment and for acquiring a measured position of the mobile unit when the mobile unit travels; a position prediction unit for predicting a position of the mobile unit to be moved; distance estimation unit for estimating a distance from the mobile unit to the object at the predicted position; a matching determining unit for determining whether or not the estimated distance is matched with the measured distance to estimate a position of the mobile unit to be moved; a position correcting unit for correcting the predicted position of the mobile unit if it is determined that the predicted position is matched with the measured position; and a map creating unit for creating the environment indoor map according to the corrected position and the measured distance. - View Dependent Claims (10, 11, 12, 13)
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14. A method of creating an indoor environment map using a mobile unit designed to freely travel by employing a plurality of wheels, the mobile unit having a distance measuring sensor and a plurality of encoders mounted to the corresponding wheels, the method comprising:
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acquiring encoded position information by detecting revolutions of the wheels using the encoders to predict a position of the mobile unit based on the encoded position information when the mobile unit travels; acquiring a measured distance from the mobile unit to an object existing in a surrounding environment using the distance measuring sensor; correcting the predicted position by moving the mobile unit to a position corresponding to the measured distance; and creating the indoor environment map using the corrected position and the measured distance. - View Dependent Claims (15, 16)
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Specification