MAP LOCALIZING WITH PARTIALLY OBSTRUCTED RANGING DEVICES FOR AUTONOMOUS ROBOTS AND VEHICLES
First Claim
1. A method of localizing an object in a space, comprising:
- retrieving from data storage a digital map of the space;
with a localizing module run by a controller, identifying a plurality of potential locations for the object in the space;
with the localizing module based on the digital map, generating a prediction of expected ranges between the object and surfaces in the space for each of the potential locations;
operating a ranging device to measure ranges to the surfaces in the space; and
comparing, for each of the predictions, the measured ranges with the expected ranges to identify one of the predictions as an accurate prediction.
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Abstract
A method for localizing robots and other objects when ranging devices are partially obstructed. The method includes retrieving a digital map of the space and then identifying potential locations for the object in the space. The method involves generating a prediction of expected ranges between the object and surfaces in the space at each of the potential locations. The method includes operating a ranging device to measure ranges to the surfaces in the space and comparing, for each of the predictions, the measured ranges with the expected ranges to identify the most accurate prediction. The comparing includes weighting ranges that are too small neutrally as these are strikes on obstructions, weighting ranges that provide matches positively, and weighting ranges that are too large negatively, and the comparing then involves summing the weighted ranges to identify a most accurate one of the predictions and associated current location for the object.
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Citations
20 Claims
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1. A method of localizing an object in a space, comprising:
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retrieving from data storage a digital map of the space; with a localizing module run by a controller, identifying a plurality of potential locations for the object in the space; with the localizing module based on the digital map, generating a prediction of expected ranges between the object and surfaces in the space for each of the potential locations; operating a ranging device to measure ranges to the surfaces in the space; and comparing, for each of the predictions, the measured ranges with the expected ranges to identify one of the predictions as an accurate prediction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A localizing method, comprising:
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determining a plurality of potential locations of an autonomous object; from each of the potential locations, generating a ray casting prediction defining predicted ranges from the autonomous object to surfaces in a space based on a digital map of the space; measuring ranges to the surfaces in the space; identifying the measured ranges corresponding with obstructions in the space; for each of the ray casting predictions, summing all of the measured ranges except the measured ranges identified as corresponding with the obstructions; selecting one of the ray casting predictions as most accurate based on the summing; and determining localizing data for the autonomous object in the space using the selected one of the ray casting predictions. - View Dependent Claims (10, 11, 12, 13, 14)
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15. An autonomous object configured for accurate localizing, comprising:
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a controller; a localizing module run by the controller, wherein the localizing module determines a plurality of potential locations for the autonomous object in a space and wherein the localizing module generates a prediction of expected ranges between the object and surfaces in the space for each of the potential locations; and a ranging assembly collecting ranging data about the autonomous object, wherein the localizing module compares, for each of the predictions, the ranging data with the expected ranges to identify one of the predictions as an accurate prediction. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification