Localization Within an Environment Using Sensor Fusion
First Claim
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1. An apparatus comprising:
- a plurality of data systems configured to generate a plurality of data streams in which the plurality of data streams includes a number of first type of data streams and a number of second type of data streams;
a modifier configured to apply a probability distribution to each of the number of second type of data streams to form a number of modified data streams; and
a pose estimator located onboard a mobile platform and configured to receive and fuse the number of first type of data streams and the number of modified data streams to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to an environment around the mobile platform;
wherein the number of second type of data streams are generated by a number of off-board data systems of the plurality of data systems.
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Abstract
A method and apparatus for guiding a mobile platform within an environment may be provided. A number of first type of data streams and a number of second type of data streams may be generated using a plurality of data systems. A probability distribution may be applied to each of the number of second type of data streams to form a number of modified data streams. The number of first type of data streams and the number of modified data streams may be fused to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to an environment around the mobile platform.
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Citations
25 Claims
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1. An apparatus comprising:
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a plurality of data systems configured to generate a plurality of data streams in which the plurality of data streams includes a number of first type of data streams and a number of second type of data streams; a modifier configured to apply a probability distribution to each of the number of second type of data streams to form a number of modified data streams; and a pose estimator located onboard a mobile platform and configured to receive and fuse the number of first type of data streams and the number of modified data streams to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to an environment around the mobile platform; wherein the number of second type of data streams are generated by a number of off-board data systems of the plurality of data systems. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 25)
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13. A mobile platform comprising:
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a base; a controller associated with the base and configured to receive data streams from a plurality of data systems in which the data streams include a number of first type of data streams and a number of second type of data streams and in which the controller comprises; a modifier configured to apply a probability distribution to each of the number of second type of data streams to form a number of modified data streams; and a pose estimator configured to receive the number of first type of data streams and the number of modified data streams as a plurality of data streams and to fuse the plurality of data streams together to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to an environment around the mobile platform; and a movement system associated with the base and configured to be controlled by the controller based on the pose estimate to move the mobile platform within the environment; wherein the number of second type of data streams are generated by a number of off-board data systems of the plurality of data systems.
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14. A method for guiding a mobile platform within an environment, the method comprising:
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generating a number of first type of data streams and a number of second type of data streams using a plurality of data systems; applying a probability distribution to each of the number of second type of data streams to form a number of modified data streams; and fusing the number of first type of data streams and the number of modified data streams to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to the environment around the mobile platform; wherein the number of second type of data streams are generated by a number of off-board data systems of the plurality of data systems. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification