METHOD AND DEVICE OF MAPPING AND LOCALIZATION METHOD USING THE SAME
First Claim
1. A mapping method, comprising:
- scanning an environment to obtain depth information of environmental obstacles;
capturing an image of the environment to generate an image plane;
projecting the environmental obstacle depth information onto the image plane, so as to obtain a plurality of projection positions;
calculating at least one feature vector from a predetermined range around each of the projection positions in the image plane;
combining the depth information of environmental obstacles and each of the feature vectors to generate a sub-map for a certain time point; and
combining the sub-maps at all time points to generate a map.
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Abstract
A mapping method is provided. The environment is scanned to obtain depth information of environmental obstacles. The image of the environment is captured to generate an image plane. The depth information of environmental obstacles is projected onto the image plane, so as to obtain projection positions. At least one feature vector is calculated from a predetermined range around each projection position. The environmental obstacle depth information and the environmental feature vector are merged to generate a sub-map at a certain time point. Sub-maps at all time points are combined to generate a map. In addition, a localization method using the map is also provided.
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Citations
20 Claims
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1. A mapping method, comprising:
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scanning an environment to obtain depth information of environmental obstacles; capturing an image of the environment to generate an image plane; projecting the environmental obstacle depth information onto the image plane, so as to obtain a plurality of projection positions; calculating at least one feature vector from a predetermined range around each of the projection positions in the image plane; combining the depth information of environmental obstacles and each of the feature vectors to generate a sub-map for a certain time point; and combining the sub-maps at all time points to generate a map. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A localization method, comprising:
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obtaining a map comprising the depth information of environmental obstacles and at least one feature vector of an image corresponding to the depth information of environmental obstacles; using a visual sensing device to obtain an environmental image; extracting at least one image feature point from the environmental image; and performing a localization according to the image feature point and the map. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A mapping device, comprising:
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at least one range sensing device, for scanning an environment to generate the depth information of environmental obstacles; at least one visual sensing device, for capturing an image of the environment to generate an image plane; and an image processing device, coupled to the range sensing device and the visual sensing device, for projecting the depth information of environmental obstacles onto the image plane to obtain a plurality of projection positions, calculating at least one feature vector from a predetermined range around each of the projection positions in the image plane, and combining the depth information of environmental obstacles and the feature vectors to generated a map. - View Dependent Claims (17, 18, 19, 20)
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Specification