METHOD & ARRANGEMENT FOR CALCULATING A CONFORMITY BETWEEN A REPRESENTATION OF AN ENVIRONMENT AND SAID ENVIRONMENT
First Claim
1. A method for calculating a conformity between a representation of an environment and said environment, wherein said representation of the environment constitutes a representation in at least two dimensions, where a distance between two points in the representation has a known relation to the corresponding distance in said environment, wherein the method comprisesestimating, with a mathematical model of a vehicle and on the basis of stored data, a first position for a point on the vehicle in said representation of the environment and, for said first estimated position in said representation of the environment, to calculate a first set of expected parameter values,comparing said computed first set of expected parameter values with a second set of stored parameter values, where said second set of stored parameter values has been determined for a second position, where said second position constitutes a position in said environment that essentially corresponds to said first estimated position, andcalculating with the help of said comparison a measure of a conformity between said environment and said representation of the environment.
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Abstract
The present invention concerns a method for determining a conformity between a representation of an environment and said environment, wherein said representation of the environment constitutes a representation in at least two dimensions, where a distance between two points in the representation has a known relation to the corresponding distance in said environment, characterised in that said determination involves the step of determining a first set of parameter values for a first position in said representation of the environment, comparing said first determined set of expected parameter values with a second set of parameter values, where said second set of parameter values has been determined for a second position, where said second position constitutes a position in said environment that essentially corresponds to said first position, and using said comparison to determine a measure of conformity between said environment and said representation of the environment. The invention also concerns an arrangement and the mining and/or construction machine.
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Citations
20 Claims
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1. A method for calculating a conformity between a representation of an environment and said environment, wherein said representation of the environment constitutes a representation in at least two dimensions, where a distance between two points in the representation has a known relation to the corresponding distance in said environment, wherein the method comprises
estimating, with a mathematical model of a vehicle and on the basis of stored data, a first position for a point on the vehicle in said representation of the environment and, for said first estimated position in said representation of the environment, to calculate a first set of expected parameter values, comparing said computed first set of expected parameter values with a second set of stored parameter values, where said second set of stored parameter values has been determined for a second position, where said second position constitutes a position in said environment that essentially corresponds to said first estimated position, and calculating with the help of said comparison a measure of a conformity between said environment and said representation of the environment.
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7. An arrangement for determining a conformity between a representation of an environment and said environment, wherein said representation of the environment constitutes a representation in at least two dimensions, where a distance between two points in the representation has a known relation to the corresponding distance in reality, wherein said arrangement comprises means for:
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by means of a mathematical model of a vehicle, and on the basis of stored data, estimating a first position for a point on the vehicle in said representation of the environment and, for said first estimated position in said representation of the environment, calculating a first set of expected parameter values, comparing said first set of expected parameter values with a second set of stored parameter values, where said second set of stored parameter values has been determined for a second position, where said second position constitutes a position in said environment that essentially corresponds to said first estimated position, and by means of said comparison, computing a measure of a conformity between said environment and said representation of the environment. - View Dependent Claims (8, 9, 10, 11, 12, 13, 14, 15, 19, 20)
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Specification