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METHOD AND DEVICE OF MAPPING AND LOCALIZATION METHOD USING THE SAME

  • US 20110123135A1
  • Filed: 02/04/2010
  • Published: 05/26/2011
  • Est. Priority Date: 11/24/2009
  • Status: Active Grant
First Claim
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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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