Adaptive Mapping with Spatial Summaries of Sensor Data
First Claim
1. A method of mapping parameters acquired by a robotic system in an environment, the method comprising:
- driving the robotic system in the environment;
measuring a first set of parameters that characterize the environment;
estimating a current pose of the robotic system;
defining a first anchor node representing an estimate of the current pose, wherein the first anchor node is one of a plurality of anchor nodes;
generating a first grid associated with the first anchor node, wherein the first grid comprises a map of the first set of measured parameters, wherein the first set of measured parameters are mapped relative to the first pose;
after driving a determined period of time, determining an estimate of the current pose of the robotic system;
determining an uncertainty between the estimate of the current pose and the first pose; and
if the uncertain is greater than a first threshold, then;
a) defining a second anchor node representing to the estimate of the current pose of the robotic system; and
b) generating a second grid associated with the second anchor node, wherein the second grid comprises a map of a second set of measured parameters mapped relative to the second pose.
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Abstract
A system and method for mapping parameter data acquired by a robot mapping system is disclosed. Parameter data characterizing the environment is collected while the robot localizes itself within the environment using landmarks. Parameter data is recorded in a plurality of local grids, i.e., sub-maps associated with the robot position and orientation when the data was collected. The robot is configured to generate new grids or reuse existing grids depending on the robot'"'"'s current pose, the pose associated with other grids, and the uncertainty of these relative pose estimates. The pose estimates associated with the grids are updated over time as the robot refines its estimates of the locations of landmarks from which determines its pose in the environment. Occupancy maps or other global parameter maps may be generated by rendering local grids into a comprehensive map indicating the parameter data in a global reference frame extending the dimensions of the environment.
119 Citations
15 Claims
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1. A method of mapping parameters acquired by a robotic system in an environment, the method comprising:
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driving the robotic system in the environment; measuring a first set of parameters that characterize the environment; estimating a current pose of the robotic system; defining a first anchor node representing an estimate of the current pose, wherein the first anchor node is one of a plurality of anchor nodes; generating a first grid associated with the first anchor node, wherein the first grid comprises a map of the first set of measured parameters, wherein the first set of measured parameters are mapped relative to the first pose; after driving a determined period of time, determining an estimate of the current pose of the robotic system; determining an uncertainty between the estimate of the current pose and the first pose; and if the uncertain is greater than a first threshold, then; a) defining a second anchor node representing to the estimate of the current pose of the robotic system; and b) generating a second grid associated with the second anchor node, wherein the second grid comprises a map of a second set of measured parameters mapped relative to the second pose. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of mapping parameters acquired by a mobile mapping system in an environment, the method comprising:
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driving the mapping system in an environment; measuring parameter data that characterizes the environment; mapping the measured parameter data to a plurality of grids, each grid being associated with one of a plurality of pose estimates; determining an uncertainty between each pose estimate and every other one of the plurality of pose estimates; and if the uncertainty between two of the plurality of pose estimates is below a second threshold, then combining the grids associated with the two pose estimates into a spatial summary grid associated with a pose estimate. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification